Heading stabilization of a mecanum wheel mobile robot using Kalman filter and SMC under variation condition

Ardianto Syaifur Rohman (Politeknik Negeri Jember)
Tunjung Genarsih (Politeknik Negeri Jember)
Sihmaulana Dwianto (Politeknik Negeri Jember)
Nuzula Afianah (Politeknik Negeri Jember)
Salsabila Liandra Putri (Politeknik Negeri Jember)
Nurul Zainal Fanani (Politeknik Negeri Jember)
Mochamad Irwan Nari (Politeknik Negeri Jember)
Ahmad Rofi'i (Politeknik Negeri Jember)
Fendik Eko Purnomo (Politeknik Negeri Jember)
Syamsiar Kautsar (Politeknik Negeri Jember)
Angga Dwinanda (Politeknik Negeri Jember)
Alfan Ahmad Berlian (Politeknik Negeri Jember)

TELKOMNIKA (Telecommunication Computing Electronics and Control)
Vol 24, No 4: August 2026

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.