Nonsingular Terminal Sliding Control Using Fuzzy Wavelet Networks for Mecanum Wheeled Omni-directional Vehicles

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.