A Novel Development to Control Multifunctional WMR for Delivery Task in Warehouse

In the context of industrial revolution 4.0, grounded robot is frequently utilized in real world. In this paper, an adaptive sliding mode controller for autonomous robot is proposed. This scheme adapts with nonlinear characteristics, variations of load and external disturbance. To enhance the trajectory tracking target, the error system is classified into two sub-system, second-order system related to angular tracking error and third-order system associated with linear one. Firstly, the practical model of grounded robot is introduced to state the technical problem. Later, the dynamic equation of autonomous system is simulated the theoretical characteristics. The stability of the proposed controller is validated by Lyapunov theorem. Finally, the numerical test results are carried out to illustrate the robustness, effectiveness and feasibility of the proposed controller. From these achievements, it can be seen that our approach is proper for various applications such as warehouse management, factory automation, logistics and supply chain.