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

MINH DONG NGUYEN; Do Quang Hiep; Dao Phuong Nam; Ngo Manh Tien

doi:10.15625/1813-9663/21537

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

Minh Dong Nguyen, Quang Hiep Do, Phuong Nam Dao, Manh Tien Ngo

Author affiliations

Authors

Minh Dong Nguyen Faculty of Electrical-Automation, University of Economics-Technology for Industries, 456 Minh Khai Street, Hai Ba Trung District, Ha Noi, Viet Nam
Quang Hiep Do Faculty of Electrical-Automation, University of Economics-Technology for Industries, 456 Minh Khai Street, Hai Ba Trung District, Ha Noi, Viet Nam
Phuong Nam Dao School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, 1 Dai Co Viet Street, Hai Ba Trung District, Ha Noi, Viet Nam
Manh Tien Ngo Institute of Physics, Vietnam Academy of Science and Technology, 10 Dao Tan Street, Ba Dinh District, Ha Noi, Viet Nam https://orcid.org/0000-0002-6690-9714

DOI:

https://doi.org/10.15625/1813-9663/21537

Keywords:

Four-Mecanum-wheeled mobile robot, fuzzy adaptive control, dynamic surface control, trajectory tracking, mass eccentricity, nonlinear control.

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

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Published

28-03-2025

How to Cite

[1]

MINH DONG NGUYEN, D. Q. Hiep, D. P. Nam, and N. M. Tien, “Trajectory tracking control for four-mecanum-wheeled robots considering mass eccentricity: A fuzzy adaptive and dynamic surface control approach”, J. Comput. Sci. Cybern., vol. 41, no. 1, p. 63–78, Mar. 2025.

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Vol. 41 No. 1 (2025)

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Articles

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