Hyperbolic Sliding Mode Trajectory Tracking Control of Mobile Robot

Abstract

The trajectory tracking control is performed for the kinematics model of the mobile robot. The switching term of the traditional sliding mode control law function contains the symbolic function. Because of its discontinuity, it is not suitable to use the switching function in the derivation occasion. In this paper, the hyperbolic tangent function is introduced into the control switching term, and the entire closed-loop system is analyzed and controlled for stability, so as to realize the global asymptotic stability of the error tracking system. The error trajectory phase diagram and control input signal before and after improvement are compared by MATLAB simulation, it is found that the improved control function is more smooth, the control time is reduced from 10 seconds to 0.9 seconds, the chattering phenomenon is also greatly reduced. In this way, the kinematic trajectory tracking control of the mobile robot system is better achieved.