Adaptive Path Tracking Control for a Four-Mecanum-Wheel Mobile Robot with Unknown Center-of-Gravity Offset and Slope Inclination
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Abstract
This paper proposes a trajectory tracking control framework for a Four-Mecanum-Wheel mobile robot operating on inclined terrain under conditions of dynamic uncertainty. The primary objective is to address the challenge of unknown center-of-gravity offset and unknown slope inclination, which can significantly impact the stability and accuracy of robot motion. To achieve this, a Model Reference Adaptive Control strategy is developed based on a full dynamic model that incorporates the effects of gravity, inertial forces, and wheel friction. The proposed controller employs Lyapunov-based adaptation laws to estimate and compensate for uncertain parameters in real time while ensuring asymptotic tracking of a desired trajectory. The simulation results under flat and inclined surface conditions demonstrate the effectiveness of the approach in maintaining tracking performance, regulating control effort, and converging parameter estimates, even when the robot experiences significant changes in center of gravity position and slope terrain.
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