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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control)
Alfan Ahmad Berlian
Politeknik Negeri Jember
Computer Science & IT

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Heading stabilization of a mecanum wheel mobile robot using Kalman filter and SMC under variation condition Ardianto Syaifur Rohman; Tunjung Genarsih; Sihmaulana Dwianto; Nuzula Afianah; Salsabila Liandra Putri; Nurul Zainal Fanani; Mochamad Irwan Nari; Ahmad Rofi'i; Fendik Eko Purnomo; Syamsiar Kautsar; Angga Dwinanda; Alfan Ahmad Berlian
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 24, No 4: August 2026
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v24i4.27654

Abstract

This paper presents a robust heading stabilization system for a mecanum wheel mobile robot by integrating a Kalman filter (KF) with sliding mode control (SMC). A two-state KF estimates the robot’s heading angle and gyroscope bias from ICM20948 inertial measurement unit (IMU) measurements, reducing sensor noise by 65% and compensating for bias drift of 0.3° per second. The estimated heading is regulated using SMC with a boundary layer to minimize chattering. Implemented on a Raspberry Pi 3B, the system was validated under varying surface friction conditions and external disturbances. The controller achieved heading stabilization with root mean square error (RMSE) between 0.380° and 0.589° across all surfaces, steady-state error within ±0.5°, and convergence within 2.0–2.6 seconds. Under severe disturbances causing heading deviations up to 238°, rapid recovery within 0.5 seconds was achieved with only 3.04° final steady state error. The results demonstrate the feasibility of implementing robust heading stabilization on low-cost embedded platforms for autonomous navigation applications.
Co-Authors Ahmad Rofi'i Angga Dwinanda Ardianto Syaifur Rohman Fanani, Nurul Zainal Fendik Eko Purnomo Mochamad Irwan Nari Nuzula Afianah Salsabila Liandra Putri Sihmaulana Dwianto Syamsiar Kautsar Tunjung Genarsih