Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

Abstract
 1. 서 론
 2. 본 론
  2.1 메카넘 휠 이동로봇의 동역학 모델
  2.2 제어기 설계
  2.3 MATLAB/Simulink 시뮬레이션 및 결과
  2.4 실제 실험 및 결과
 3. 결 론
 References

• 우철민(CNU, Changwon) | Cheolmin Woo
• 이민욱(IREA, Changwon) | Min-uk Lee
• 윤태성(Electrical Engineering, Changwon National University) | Tae-sung Yoon Corresponding author