Fuzzy Sliding Mode Trajectory Tracking Control for Omnidirectional Mobile Robots Based on Exponential Convergence Law

The increasing advancements in information technology have led to a growing interest in control research for mobile robot trajectory tracking. A controller for robot systems should exhibit adaptivity and robustness as its fundamental characteristics. Sliding mode control (SMC) offers strong robustness but is hindered by the presence of chattering, limiting its application and development. This paper explores the integration of sliding mode control and fuzzy control to address these limitations. By using the mobile robot’s kinematic model, a sliding mode controller based on exponential convergence is designed on the basis of existing sliding mode controllers, incorporating a fuzzy algorithm to mitigate system chattering. Experimental results demonstrate a significant improvement in control performance compared to traditional SMC, with faster convergence of tracking error and enhanced robustness.