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Published in:
2021 | OriginalPaper | Chapter
Robust Sliding Mode Controller (RSMC) for an Omniwheeled Mobile Robot with Uncertainties and External Perturbations
Authors : Mohammad Saad, Uddesh Tople, Amrapali Khandare, Zeeshan Ul Islam
Published in: Advances in Mechanical Engineering
Publisher: Springer Singapore
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Abstract
Mobile robots at present are used extensively in the industrial and commercial sectors. There is a need for a robot that can easily maneuver in the sparse space at the warehouse, stores, etc. Omnidirectional robots have an upper hand over conventional mobile robots as they need not change their orientation while maneuvering. In this paper, we are putting forth the design of robust controller for omniwheeled mobile robot (OWMR). In the beginning, kinematic and dynamic modeling of OWMR was done; then, PID and sliding mode controller (SMC) were implemented on the OWMR. The proposed controller tracks the trajectory with greater accuracy as compared to other standard controllers.