Application of Sliding Mode Trajectory Tracking Control Design for Two-Wheeled Mobile Robots

Abstract

A trajectory tracking controller is proposed to drive the wheeled mobile robot (WMR) to follow a predefined trajectory robustly within a finite time under the presence of uncertainties. The two-wheeled mobile robot and tracking error system are modelled by kinematic equations, the stability and reachability of the sliding mode controller are analysed based on the system models. A two-wheeled mobile robot is built by using the STM32F407 (ARM Cortex-M4 microcontroller) board and a MATLAB GUI, and a cooperative real-time operating system are implemented by using C programming language in order to provide convenient system configuration and improve the overall tracking performance. It is demonstrated that the line and circular trajectories are well tracked in simulation and experiment.