A Novel Predefined-Time Sliding Mode Control Scheme for Mecanum-Wheeled Omnidirectional Mobile Robot

Autonomous mobile robots have been applied in many industries, but fast and robust trajectory tracking control remains a major challenge. This paper investigates a predefined-time trajectory tracking problem of a Mecanum-wheeled omnidirectional mobile robot (MWOMR) under the conditions of parameter uncertainties and external disturbances. First, a novel predefined-time stable system with adjustable convergence rate is proposed. Second, a predefined-time sliding mode control scheme is developed, which has better convergence performance and smaller control input. Based on Lyapunov stability theory, the effectiveness of the scheme is proven. The numerical simulation results show that the compared with traditional predefined-time control schemes, the proposed scheme has the advantages of a shorter convergence time and smaller control input.