Adaptive sliding-mode dynamic control for path tracking of nonholonomic wheeled mobile robot

Abstract EN

This paper designs an adaptive sliding mode dynamic controller for the trajectory tracking of wheeled mobile robot.

First, a kinematic controller based on backstepping technique is introduced to make the WMR follow a reference trajectory.

Secondly, an adaptive sliding-mode dynamic controller (ASMDC) is proposed to make the actual velocity of the WMR reach the velocity command even in presence of uncertainties and disturbances.

Using the Lyapunov stability theory, the stability analysis and convergence of the tracking errors are proved.

Computer simulation results illustrate the effectiveness of the proposed controller.