Backstepping and Novel Sliding Mode Trajectory Tracking Controller for Wheeled Mobile Robots

Abstract

A novel variable structure controller based on sliding mode is developed for addressing the trajectory tracking challenge encountered by wheeled mobile robots. Firstly, the trajectory tracking error model under the global coordinate system is established according to the kinematic model of the wheeled mobile robot. Secondly, the novel sliding mode algorithm and backstepping method are introduced to design the motion controller of the system, respectively. Different sliding mode surfaces are formulated to guarantee rapid and stable convergence of the system’s trajectory tracking error to zero. Ultimately, comparative simulation trials validate the controller’s ability to swiftly and consistently follow the reference trajectory. In contrast to traditional controllers, this controller shows rapid convergence, minimal error, and robustness.