Sliding mode control for trajectory tracking of mobile robots

Abstract

In this paper, the problem of trajectory tracking control for nonholonomic mobile robots under unknown disturbances is studied. First, a trajectory tracking controller for nonholonomic mobile robots is designed via the method of sliding mode control. Then, a disturbance observer is presented to estimate the unknown disturbance and realize the compensation. Next, it is verified that the closed-loop control system is asymptotically stable according to our design. Finally, the simulation results are provided to show the efficiency of the method.