A Nonsingular Fast Terminal Sliding Mode Control Scheme for Mecanum-Wheels Omnidirectional Mobile Robots

The Mecanum-wheels omnidirectional mobile robot (MWOMR) is a massive advantage in loading and unloading goods. This paper proposes a robust non-singular fast terminal sliding mode (NFTSM) control scheme to solve the path-tracking problem of MWORR. First, the kinematics and dynamics equations of the MWOMR are established. Following that, the NFTSM controller is designed. Finally, the stability of the NFTSM control system is verified using the Lyapunov function. In addition, the selection of control parameters is explained in detail. Two cases of circular ballistic trajectory and figure-of-eight ballistic trajectory under different loads are simulated using the NFTSM controller and the non-singular terminal sliding mode (NTSM) controller, respectively. The simulation results show that the NFTSM controller has a faster convergence rate than the NTSM controller.