Tracking control method and system for omnidirectional mobile robot

Abstract

The application provides a tracking control method and system of an omnidirectional mobile robot in a complex pulse deception attack environment, and belongs to the technical field of omnidirectional mobile robot control. The method comprises the following steps: obtaining a dynamic model of the omnidirectional mobile robot based on the motion characteristics of the omnidirectional mobile robot; obtaining an error equation based on the dynamic model, a target point and a position coordinate of the robot; and designing a sliding mode controller, wherein the controller implements sliding mode control on the robot according to the error and the kinematic model, so as to achieve the effect of resisting pulse deception attack. The method can not only be applied to a pulse deception attack environment, but also can be applied to some scenes of data transmission packet loss and sensor failure.

Description

Technical Field

[0001] This invention relates to the field of omnidirectional mobile robot control technology, and in particular to a tracking control of an omnidirectional mobile robot based on a Mecanum wheel in a complex pulse deception attack environment. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] With the development of science and technology, people's reliance on mobile robots is constantly increasing. The optimization and upgrading of robot technology have enabled robots to gradually replace a significant portion of jobs and perform tasks in various complex environments. Compared to traditional wheeled robots, omnidirectional mobile robots based on Mecanum wheels have stronger mobility, enabling them to work and complete tasks in more complex environments. Their flexibility in confined spaces and their adaptability are improved. From a mathematical perspective, omnidirectional mobile robots based on Mecanum wheels break through the non-integrable limitation of sub-Riemannian structures, no longer being nonholonomic constraint systems. This means that their independent velocity components will not decrease, maintaining their original degrees of freedom, thus greatly improving their motion performance.

[0004] As a special type of cyber-physical system, omnidirectional mobile robots often rely on real-time network information environments for communication. In these environments, malicious attacks targeting mobile robot data transmission are inevitable. Typical malicious attacks include Denial-of-Service (DoS) attacks and spoofing attacks. DoS attacks generally disrupt the communication topology or block the communication channel; spoofing attacks differ from DoS attacks in that they maintain communication while altering data in the channel or injecting false data. Therefore, spoofing attacks are more covert. Pulse spoofing attacks are a special type of spoofing attack. Unlike traditional spoofing attacks, pulse spoofing attacks are discontinuous. They only produce a pulse-jumping effect at certain moments, thus saving attack costs. This characteristic makes pulse spoofing attacks easier for attackers to employ.

[0005] Current research on the control of omnidirectional mobile robots in cyberattack environments largely focuses on continuous spoofing attacks and DoS attacks, with little consideration given to control strategies in pulse spoofing attack environments. Therefore, controlling omnidirectional mobile robots in complex pulse spoofing attack environments presents a significant challenge that urgently needs to be addressed. Summary of the Invention

[0006] To overcome the shortcomings of the existing technology, the present invention provides a tracking control method and system for an omnidirectional mobile robot, which controls an omnidirectional mobile robot based on Mecanum wheels under complex pulse deception attack environment, effectively improving the anti-interference performance of robot motion.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0008] Firstly, a tracking control method for an omnidirectional mobile robot includes the following steps:

[0009] Based on the motion characteristics of the omnidirectional mobile robot based on Mecanum wheels, its dynamic model is obtained;

[0010] Based on the dynamic model, target point, and robot position information, the error equation is obtained;

[0011] Design a sliding mode controller, and implement sliding mode control of the robot using the sliding mode controller based on the error equation and the kinematic model.

[0012] Furthermore, the specific steps to obtain its dynamic model are as follows:

[0013] Based on the motion environment of the omnidirectional mobile robot, define the world coordinate system and the robot coordinate system, and obtain the robot's position and velocity information in the world coordinate system;

[0014] Based on the fundamental laws of kinematics and dynamics, and the position and velocity information of the omnidirectional mobile robot, a dynamic model of the omnidirectional mobile robot is established.

[0015] Furthermore, the specific steps for obtaining the error equation are as follows:

[0016] Based on the coordinates of the target point in the world coordinate system and the position information of the omnidirectional mobile robot, establish the position error between the two.

[0017] Assuming the target point is stationary, establish a speed error based on the current robot speed;

[0018] Error equations are established based on position error, velocity error, and the robot's dynamic model.

[0019] Furthermore, based on the aforementioned error equation and the erroneous data from the pulse injection, an error equation under a pulse deception attack is established.

[0020] Furthermore, the specific steps for implementing sliding mode control of the robot using a sliding mode controller are as follows:

[0021] Design a sliding mode hyperplane to divide the phase space into a first subspace and a second subspace, and design controllers in the two subspaces respectively;

[0022] The controller is designed based on the space in which the initial system values ​​are located, so that the solution curve of the error equation converges to the sliding mode hyperplane within a finite time.

[0023] Furthermore, if the initial value of the system is located in the first subspace, then the controller in this space is designed to ensure that the system trajectory enters the second subspace within a finite time, thus achieving the first step of reaching the sliding mode hyperplane;

[0024] If the initial value of the system is located in the second subspace, then design the controller in this space so that the system trajectory reaches the sliding mode hyperplane in a finite time.

[0025] Furthermore, after reaching the sliding hyperplane, the system trajectory converges to the origin within a finite time according to the sliding properties of the hyperplane, thus realizing the closed-loop motion control of the mobile robot.

[0026] Secondly, a tracking and control system for an omnidirectional mobile robot includes:

[0027] Model building module: Based on the motion characteristics of the omnidirectional mobile robot based on Mecanum wheels, obtain its dynamic model;

[0028] Error representation module: Obtains the error equation based on the dynamic model, target point, and robot position coordinates;

[0029] Sliding mode control module: Design a sliding mode controller to implement sliding mode control of the robot based on the error equation and the kinematic model.

[0030] One or more embodiments provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the aforementioned tracking control method and system for an omnidirectional mobile robot.

[0031] One or more embodiments provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned tracking control method and system for an omnidirectional mobile robot.

[0032] The above one or more technical solutions have the following beneficial effects:

[0033] This invention provides an omnidirectional mobile robot tracking and control method under complex pulse spoofing attack environment. Compared with traditional control methods, it further considers the environment of pulse spoofing attack and effectively improves motion control performance in harsh network environments.

[0034] This invention employs a gliding controller to perform gliding control on an omnidirectional mobile robot and uses associated pulse parameters to resist pulse effects, thereby safely and accurately controlling the movement of the omnidirectional mobile robot when subjected to pulse deception attacks.

[0035] The technical solution provided by this invention is scalable and is applicable not only to pulse spoofing attack environments, but also to certain scenarios such as data transmission packet loss and sensor failure. Attached Figure Description

[0036] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0037] Figure 1 This is a schematic flowchart of a tracking and control method for an omnidirectional mobile robot provided in an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the motion of an omnidirectional mobile robot based on Mecanum wheels provided in an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the controller output under a pulse spoofing attack environment provided by an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram illustrating the displacement being subjected to a pulse deception attack, as provided in an embodiment of the present invention.

[0041] Figure 5 This is a schematic diagram of the motion trajectory of an omnidirectional mobile robot provided in an embodiment of the present invention.

[0042] Figure 6 The velocity-displacement phase diagram under sliding mode control is provided in an embodiment of the present invention. Detailed Implementation

[0043] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0044] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0045] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0046] Terminology Explanation:

[0047] (1) Sliding Mode Control System: A sliding mode control system is a variable structure control system, belonging to a type of nonlinear control system. Its nonlinearity is specifically manifested in the discontinuity of the control process. Unlike other control strategies, the "variable structure" in sliding mode variable structure control means that the system structure is in a non-fixed state during the control process. That is, the system structure can change with the changes in the system state during the control process, causing the system to move according to a preset surface. The sliding hyperplane is not affected by the internal parameters of the system or external disturbances, and can be specially designed according to different systems to obtain better control effects. Therefore, sliding mode variable structure control does not require high-precision system equations, has a large tolerance space for system parameters, and is suitable for the control of most nonlinear complex systems.

[0048] (2) Omnidirectional mobile robot based on Mecanum wheels: Mecanum wheels were first proposed by Swedish engineer Ilon in 1973. They are divided into left-handed Mecanum wheels and right-handed Mecanum wheels. The chassis structure of the omnidirectional mobile robot based on Mecanum wheels consists of two left-handed wheels and two right-handed wheels. The wheels with the same direction of rotation are installed diagonally, thus enabling omnidirectional movement.

[0049] (3) Motion control: After a target point is given, the mobile robot reaches the given target point under the guidance of the control strategy.

[0050] (4) Pulse Spoofing Attack: A pulse spoofing attack is a discontinuous spoofing attack that modifies the data transmission process from the sensor to the controller at certain moments, causing the controller to obtain incorrect data and disrupting the original control function. Typical data tampering methods include multiplying the sensor data by a constant.

[0051] (5) Pulse intensity parameter: In a pulse spoofing attack, the sensor data is multiplied by a certain constant, which is usually called the pulse intensity parameter.

[0052] Current research on omnidirectional mobile robots in cyberattack environments mainly focuses on continuous spoofing attacks or DoS attacks, with little consideration given to motion control of omnidirectional mobile robots in pulse spoofing attack scenarios. Therefore, this invention provides a control method for an omnidirectional mobile robot based on Mecanum wheels in complex pulse spoofing attack environments, achieving pulse-resistant motion control through closed-loop sliding mode control.

[0053] Example 1

[0054] The purpose of this embodiment is to provide a tracking and control method for an omnidirectional mobile robot, including the following steps:

[0055] S1: Based on the motion characteristics of the omnidirectional mobile robot based on Mecanum wheels, obtain its dynamic model; the specific steps are as follows:

[0056] S101. Based on the motion environment of the omnidirectional mobile robot, define the world coordinate system and the robot coordinate system, and obtain the robot's position and velocity information in the world coordinate system. In this embodiment, the position information is the position coordinates.

[0057] S102. Based on the fundamental laws of kinematics and dynamics, and the position and velocity information of the omnidirectional mobile robot, establish a dynamic model of the omnidirectional mobile robot.

[0058] by Figure 2 Taking the omnidirectional mobile robot shown below as an example, the specific process is as follows:

[0059] First, based on reasonable assumptions about the physical environment in which the omnidirectional mobile robot is located, a world coordinate system is established. Among them O w X represents the origin of the world coordinate system. w The x-axis and y-axis represent the world coordinate system. w The y-axis represents the world coordinate system. The robot coordinate system is established based on the robot's current state. Where O represents the origin of the robot coordinate system, i.e., the robot's center of mass, X represents the x-axis of the robot coordinate system, and Y represents the y-axis of the robot coordinate system.

[0060] Based on the velocity relationship between the wheels and the robot, we can obtain the following in the robot's coordinate system:

[0061]

[0062] in Let represent the rotational angular velocity of the i-th wheel, and r, a, b represent the wheel radius, robot length, and width, respectively. Based on the relationship between the world coordinate system and the robot coordinate system, we can obtain:

[0063]

[0064] Where R(ψ) represents the rotation matrix with ψ as the variable, and by substituting the relationship with the angular velocity of the wheel, we can obtain:

[0065]

[0066] Where H + Let H be the generalized inverse matrix. The relationship between the angular velocity of the wheel and the torque of the motor can be expressed as:

[0067]

[0068] Where M is the torque parameter, and D and f are the static friction coefficient and dynamic friction coefficient, respectively. Therefore, a dynamic model of the omnidirectional mobile robot can be established:

[0069]

[0070] in, The coordinates represent the robot's position, and x and y represent the robot's x-axis and x-axis coordinates in the world coordinate system. P1 represents the angle between the positive x-axis of the robot coordinate system and the positive x-axis of the world coordinate system. x ,v y [ω] represents the robot's velocity, v x v represents the robot's velocity along the x-axis in the world coordinate system. y ω represents the robot's velocity along the y-axis in the world coordinate system, and ω represents the robot's angular velocity. u0=-R(ψ)H + M -1 η, g0 represents uncertain disturbances such as friction.

[0071] S2: Obtain the error equation based on the dynamic model, target point, and robot position information; the specific steps are as follows:

[0072] S201. Based on the coordinates of the desired target point in the world coordinate system and the position coordinates of the omnidirectional mobile robot, establish the position error between the two. Assuming the target point is stationary, establish the velocity error based on the current robot speed.

[0073] S202. Based on the position error, velocity error, and the robot's dynamic model, error equations can be established.

[0074] S203. Based on the error equation and the error data from the pulse injection, establish the error equation under the pulse attack environment.

[0075] In this embodiment, the error equation in the x-direction will be used as an example only. Let P... 0,target,x The x-coordinate of the target point's location is represented by P. 0,OMR,x The x-coordinate represents the robot's position, thus the position error in the x-axis direction can be obtained:

[0076] e 0,x =P 0,target,x -P 0,OMR,x

[0077] With P 1,OMR,xThis represents the robot's velocity vector. Since the target point is stationary, a velocity error can be established.

[0078] e 1,x =-P 1,OMR,x

[0079] Based on the principle of linear superposition of differential equations, the error equation can be established as follows:

[0080]

[0081] Considering the pulse attack environment, assume the set of pulse occurrence times is as follows: If the pulse intensity parameter is γ, then the error equation under a pulse attack environment can be obtained.

[0082]

[0083] The error equation includes two directions, namely the x-direction and the y-direction. Similarly, in the y-direction of the world coordinate system, we have:

[0084]

[0085] Among them, e 0x =P 0,target,x -P 0,OMR,x P 0,target,x P represents the x-coordinate of the target point's location. 0,OMR,x The horizontal coordinate of the robot's position, e 0x This represents the error on the horizontal axis. e 1x =-P 1,OMR,x P 1,target,x e represents the robot's velocity in the x-direction. 1x The velocity error in the x-direction is represented by c, and the motion parameter is u. x g represents the control output of the controller. x (t) represents uncertain interference on the road surface, and γ represents the pulse intensity of the data injected by the pulse spoofing attack. Similarly, the symbol with the subscript y indicates the same meaning in the y-direction.

[0086] S3: Design a sliding mode controller. Based on the error equation and the kinematic model, use the sliding mode controller to implement sliding mode control on the robot. The specific steps are as follows:

[0087] S301. Design a sliding mode hyperplane and design controllers on the first subspace and the second subspace, namely S1 and S2, respectively.

[0088] S302. Based on the subspace where the initial system value is located, design a two-stage controller. In the first stage, ensure that the system trajectory enters the S2 space within a finite time. In the second stage, ensure that the system trajectory converges to the sliding surface within a finite time.

[0089] For example, the specific process is as follows:

[0090] The sliding mode hyperplane is a plane with a dimension greater than that of the phase space, which divides the phase space into two subspaces, denoted as:

[0091] and

[0092] First, consider the design of the sliding mode hyperplane. The sliding mode hyperplane will affect the partitioning of space and thus the rate at which the system trajectory reaches the origin. Therefore, for a given parameter β, define the sliding mode variable:

[0093] s = e 1x +βe 0x

[0094] Specifically, s(e 1x ,e 0x The expression ) = 0 is represented as a hyperplane in phase space, namely the sliding mode hyperplane.

[0095] Assume the initial values ​​of the system are located in the first subspace. In the space, to ensure entry into the second subspace within a limited time... In space, given parameters p and p', provide continuous closed-loop feedback control input:

[0096] u x =-ce 1x -p′e 1x -psgn(e 1x ),(e 0x ,e 1x )∈S1 (2)

[0097] Achieve e within a finite time 1x It converges to 0 and enters the S2 space.

[0098] The initial value of the system is located in the second subspace. In space, to ensure that the sliding mode hyperplane s(e) is reached within a finite time... 1x ,e 0x Given that ) = 0, and parameter p, provide continuous closed-loop feedback control input with respect to the sliding mode variable:

[0099] u x =-ce 1x -βe 1x -psgn(s),(e 0x ,e 1x )∈S2 (3)

[0100] After reaching the sliding hyperplane, the system trajectory converges to the origin within a finite time according to the sliding properties of the hyperplane, thereby realizing the closed-loop motion control of the mobile robot.

[0101] To ensure that the two continuous closed-loop feedback control inputs above can resist the impulse effect, an inequality is established regarding the impulse intensity parameter γ:

[0102]

[0103]

[0104] By associating the control parameter p', sliding mode parameter β, and impulse parameter γ, the above controller resists impulse effects, causing the system state to asymptotically converge to 0 globally under control.

[0105] The following proves this conclusion:

[0106] The proof consists of two parts:

[0107] Part One:

[0108] Assume (e) 0x0 ,e 1x0 ) represents the initial value of the error system, if (e 0x0 ,e 1x0 If (e) ∈ S2, then skip the first part and start directly from the second part. 0x0 ,e 1x0 If )∈S1, then we will prove below that under the controller, the system state can converge to space S2.

[0109] Combining the system and the controller, we can obtain:

[0110]

[0111] Take the Lyapunov function as Combining the interval [τ k ,τ k+1 Integral inequalities on )

[0112]

[0113]

[0114] We can obtain the scaling of Lyapunov functions:

[0115]

[0116] Where λ1 > 0, this ensures that the system trajectory is within a finite time. It converges inward to space S2.

[0117] Part Two:

[0118] First, we prove that the state trajectory, after entering space S2, does not leave space S2. If from the boundary {e 0x >0,e 1x =0} leaving, then there obviously exists a time t* such that

[0119] e 0x (t*)>0,e 1x (t*)=0,

[0120] At this point, the following inequality holds:

[0121]

[0122] and Contradiction. If from the boundary {e 0x <0,e 1x If t* = 0, then there also exists t* such that 0 leaves the loop.

[0123] e 0x (t*)<0,e 1x (t*)=0,

[0124] At this point, we can obtain:

[0125]

[0126] This is also a contradiction, therefore the system trajectory, once entering the S2 space, does not leave. Next, we prove that the sliding mode variable can converge to 0 in finite time, that is, the system trajectory can reach the sliding hyperplane in finite time. Let the sliding mode variable s(t) = e 1x +βe 0x Substituting this into the system yields:

[0127]

[0128] Take the Lyapunov function as We can obtain a scaling of its Dini derivative:

[0129]

[0130] Similar to the discussion in Part 1, we can obtain

[0131]

[0132] Therefore, a limited time can be obtained. It reaches the sliding hyperplane. After reaching the sliding surface, due to s(τ) n )=γs(τ n- Since ) = 0, the system can be rewritten as:

[0133]

[0134] Therefore, the solution to the system can be obtained:

[0135]

[0136] This proves that the system's trajectory is globally asymptotically stable. Q.E.D.

[0137] The following uses the target point coordinates P 0,target = [3,5,0], Robot coordinates P 0,OMR Taking [0,0,0] as an example, the effectiveness of the sliding mode control method for an omnidirectional mobile robot under a complex pulse deception attack environment described in this example is further illustrated. Table 1 shows the controller input data, velocity and position information data under a pulse deception attack. It can be seen that when a pulse effect occurs, the controller output also changes accordingly, and the system state eventually converges to 0. The above results show that the sliding mode control under a pulse deception attack environment of the present invention can effectively cope with pulse deception attack environments.

[0138] Table 1. State and control input under discontinuous control and tracking control

[0139]

[0140]

[0141]

[0142] Example 2

[0143] The purpose of this embodiment is to provide a tracking and control system for an omnidirectional mobile robot, including: a model building module: obtaining a dynamic model of the omnidirectional mobile robot based on the motion characteristics of the Mecanum wheel;

[0144] Error representation module: Obtains the error equation based on the dynamic model, target point, and robot position coordinates;

[0145] Sliding mode control module: Design a sliding mode controller to implement sliding mode control of the robot based on the error equation and the kinematic model.

[0146] Example 3

[0147] The purpose of this embodiment is to provide an electronic device.

[0148] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the above-described tracking and control method for an omnidirectional mobile robot.

[0149] Example 4

[0150] The purpose of this embodiment is to provide a computer-readable storage medium.

[0151] A computer-readable storage medium stores a computer program, host computer software, etc., which is executed by a processor according to the steps of the above-described tracking and control method for an omnidirectional mobile robot.

[0152] Each step involved in Examples 2 to 4 corresponds to that in Example 1. For specific implementation details, please refer to the relevant description section of Example 1.

[0153] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0154] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications, improvements, or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A tracking control method for an omnidirectional mobile robot, characterized in that, Includes the following steps: Based on the motion characteristics of the omnidirectional mobile robot based on Mecanum wheels, its dynamic model is obtained; Based on the dynamic model, the target point, and the robot's position coordinates, the error equation is obtained; The specific steps for obtaining its dynamic model are as follows: Based on the motion environment of the omnidirectional mobile robot, define the world coordinate system and the robot coordinate system, and obtain the robot's position coordinates in the world coordinate system; Based on the fundamental laws of kinematics and dynamics and the position coordinates of the omnidirectional mobile robot, a dynamic model of the omnidirectional mobile robot is established. The specific steps to obtain the error equation are as follows: Based on the coordinates of the target point in the world coordinate system and the position coordinates of the omnidirectional mobile robot, establish the position error between the two. Assuming the target point is stationary, establish a speed error based on the current robot speed; Based on the position error, velocity error, and the robot's dynamic model, an error equation is established; Based on the aforementioned error equation and the pulse deception attack, an error equation under the pulse deception attack is established; Design a sliding mode controller, and implement sliding mode control of the robot using the sliding mode controller based on the error equation and the kinematic model.

2. The tracking and control method for an omnidirectional mobile robot as described in claim 1, characterized in that, The specific steps for implementing sliding mode control of a robot using a sliding mode controller are as follows: Design a sliding mode hyperplane to divide the phase space into a first subspace and a second subspace, and design controllers in the two subspaces respectively; The controller is designed based on the space in which the initial system values ​​are located, so that the solution curve of the error equation converges to the sliding mode hyperplane within a finite time.

3. The tracking and control method for an omnidirectional mobile robot as described in claim 2, characterized in that, If the initial value of the system is located in the first subspace, then the controller in this space is designed to ensure that the system trajectory enters the second subspace within a finite time, thus achieving the first step of reaching the sliding mode hyperplane; If the initial value of the system is located in the second subspace, then design the controller in this space so that the system trajectory reaches the sliding mode hyperplane in a finite time.

4. The tracking and control method for an omnidirectional mobile robot as described in claim 3, characterized in that, After reaching the sliding hyperplane, the system trajectory converges to the origin within a finite time according to the sliding properties of the hyperplane, thus realizing the closed-loop motion control of the mobile robot.

5. A tracking control system for an omnidirectional mobile robot employing the tracking control method for an omnidirectional mobile robot as described in any one of claims 1-4, characterized in that, include: Model building module: Based on the motion characteristics of the omnidirectional mobile robot based on Mecanum wheels, obtain its dynamic model; Error representation module: Obtains the error equation based on the dynamic model, target point, and robot position coordinates; Sliding mode control module: Design a sliding mode controller to implement sliding mode control of the robot based on the error equation and the kinematic model.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements a tracking and control method for an omnidirectional mobile robot as described in any one of claims 1-4.

7. A computer-readable storage medium storing a computer program, characterized in that, When executed by the processor, the program implements a tracking control method for an omnidirectional mobile robot as described in any one of claims 1-4.

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