This paper presents a nonsingular terminal sliding mode control using fuzzy wavelet networks for trajectory tracking and stabilization of a Mecanum wheeled omnidirectional vehicle (MWOV). A dynamic model of the vehicle including static friction is constructed; on the basis of the model, a nonsingular terminal sliding mode control is proposed to achieve trajectory tracking and stabilization. Fuzzy wavelet networks are then used to on-line approximate some uncertain nonlinear term of the controller, thereby accomplishing out better motion performance. Simulation results are conducted to show the effectiveness and the merit of the proposed approach.
展开▼
