Random trajectory tracking of four Mecanum wheeled mobile platform

This paper intends to investigate tracking control for four Mecanum wheeled mobile platform (FMWMP) under stochastic disturbance. In the deterministic environment, the Lagrange system is obtained using Denavit-Hartenberg (DH) method and analytical dynamics. The stochastic oscillation in the environment is transformed into disturbance to the moment, then the stochastic Lagrangian system is established. A trajectory tracking controller is obtained by using backstepping method, such that the second moment of the tracking error arbitrarily small by adjusting the parameters and all signals of the closed-loop system are guaranteed to be bounded by probability. Simulation results are provided to demonstrate the performance of the designed control.