Work

Trajectory tracking control for four-mecanum-wheeled robots considering mass eccentricity: A fuzzy adaptive and dynamic surface control approach

Year: 2025

Type: article

Abstract: This paper presents a novel approach combining Fuzzy adaptive control with dynamic surface control to enhance trajectory tracking of four mecanum wheeled mobile robots considering mass eccentricity. Mass eccentricity, which refers to the displacement of the robot’s center of mass, poses significant challenges for precise control and stability. The proposed combined control strategy addresses these challenges by leveraging the adaptive capabilities of fuzzy logic and the robustness of dynamic surface control. Simulation results demonstrate that this approach significantly improves trajectory tracking accuracy and system stability

Source: Journal of Computer Science and Cybernetics

DOI: 10.15625/1813-9663/21537

Authors: MINH DONG NGUYEN, Do Quang Hiep, Dao Phuong Nam, Ngo Manh Tien

Institutions: University of Economics - Technology for Industries, Trường Đại học Khoa học và Công nghệ Hà Nội, Hanoi University of Science and Technology, Viện Vật lý, Vietnam Academy of Science and Technology

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: Vietnam Academy of Science and Technology

Award: G1929095439