Trajectory Tracking Control of a Mecanum-Wheeled Omnidirectional Mobile Robot Implemented in ROS-Gazebo

This article presents a trajectory tracking robust control for a mobile robot with Mecanum wheels. Using the sliding mode technique, a controller is developed to ensure robustness against unknown uncertainties, providing stable convergence. For stability onditions, the direct Lyapunov method is used, which guarantees the asymptotic convergence of the system. Finally, the results are evaluated at the simulation level using the nonlinear model and ROS2 in the Gazebo environment.