Design Adaptive Fuzzy Dynamic Surface Controller Combined with DWA Algorithm in Motion Control for Mecanum Wheels Omnidirectional Mobile Robots

This paper presents the Adaptive Fuzzy Dynamic Surface Controller (AFDSC) combined with the DWA (Dynamic-Window Approach) optimization algorithm for motion control for Mecanum-wheels omnidirectional mobile robots based on the dynamics of the Mecanum-wheels omnidirectional mobile robot. The fuzzy controller is used to adjust the parameters of the sliding surface to improve the quality of orbital tracking for the robot. This fuzzy controller is designed with two input state variables as position error, robot position error derivative, and output variable as parameters for the Dynamic Surface controller. Simulation results on Matlab/Simulink software. At the same time, the article’s content mentions programming and experimental operation for mobile robots using the ROS operating system on Jetson Nano 4G embedded computer. Theoretical and experimental simulation results with position deviation from 0.011 m to 0.017 m, y-axis from 0.0091 to 0.013 m, from 0.0021 to 0.0028 rad. And experimental results with position error in the x-axis from 0.017 to 0.019 m, y-axis from 0.0101 to 0.017 m, and \(\theta\) from 0.0025 to 0.003 rad.