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This paper proposes an adaptive tracking control scheme for omnidirectional mobile robots (OMRs) subject to model uncertainties and input disturbances. The input torque of the wheels is designed based on the sliding mode method, and a boundary layer is introduced to suppress system oscillations. Besides, a comprehensive error compensator is presented to address both uncertainties and disturbances. Theoretical analysis and simulation results verified the finite-time convergence of the proposed scheme, and the follower OMR can accurately track the trajectory of the leader OMR in the desired formation.

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Adaptive Finite-Time Tracking Control of Omnidirectional Mobile Robots

  • 会议论文

  • 发表日期：

    2026年

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  • Yuxin Jia,
  • Guanjun Chen

摘要

This paper proposes an adaptive tracking control scheme for omnidirectional mobile robots (OMRs) subject to model uncertainties and input disturbances. The input torque of the wheels is designed based on the sliding mode method, and a boundary layer is introduced to suppress system oscillations. Besides, a comprehensive error compensator is presented to address both uncertainties and disturbances. Theoretical analysis and simulation results verified the finite-time convergence of the proposed scheme, and the follower OMR can accurately track the trajectory of the leader OMR in the desired formation.