RESEARCH AND DESIGN APPLICATION BACKSTEPPING CONTROLLER FOR MOBILE ROBOT WITH FOUR MECANUM-WHEEL

Abstract

The mecanum four-wheel mobile robot is a type of automatic robot with
four wheels equipped with mecanum wheels, which are specially designed
wheels to allow the vehicle to move in different directions without changing of
the direction of rotation of the wheel. The mecanum wheels are designed with
small wheels placed 45 degrees off the surface, and they can rotate around their
axis. As the car moves, the mecanum wheel rotates to create a torsion force,
which helps the car move in different directions. Thanks to this feature, the
mecanum four-wheeled mobile robot can move in different directions flexibly
and precisely. There are many control methods for mobile robots such as PI, PD
control, sliding control, fuzzy controller, and intelligent control, in this report the
author studies the application of a Backstepping controller for a four-wheeled
mobile robot mecanum. A Backstepping controller is a nonlinear control method
used to design controllers for highly complex nonlinear systems, allowing the
control of nonlinear systems to achieve good performance and stability.