Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels

• Published in: Applied sciences Vol. 12; no. 11; p. 5322
• Main Authors: Szeremeta, Mateusz, Szuster, Marcin
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.06.2022
• Subjects: Adaptation; Control algorithms; Controllers; Cooperation; intelligent control; Kinematics; Lyapunov stability theory; Mathematical models; mecanum wheels; Motion control; neural networks; Robots; Simulation; tracking control; wheeled mobile robot
• ISSN: 2076-3417; 2076-3417
• DOI: 10.3390/app12115322

This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and dynamics of the robot, we conducted a synthesis of the neural control algorithm to determine network weight adaptation, according to Lyapunov stability theory. Using a MATLAB/Simulink computing environment, we developed a numerical simulation for the implementation of the robot’s motion path with parametric disturbances acting on the control object. To determine the quality of the implementation of the desired motion path, a numerical test of the robot’s motion, controlled with the use of a PD controller, was conducted. The proposed control algorithm was verified on a laboratory stand equipped with a dSpace DS1103 controller board and a Husarion Panther four-wheeled mobile robot with mecanum wheels. The conducted research confirmed the improved implementation of the desired motion path by a robot controlled with the use of an intelligent control system.