Adaptive Sliding Mode Control for the Global Trajectory Tracking of Mobile Robots

Abstract

This paper addresses the problem of trajectory tracking control for the nonholonomic mobile robot with two actuated wheels. Based on the backstepping control algorithm, a switch function for variable structure control is designed and an adaptive sliding-mode tracking controller with global asymptotically stability is proposed for the kinematic model with unknown parameters. This method simplifies the controller design and is applicable to the trajectory tracking control of the mobile robot. The global asymptotically stability of the closed loop system is guaranteed by Lyapunov direct method. Simulation results are provided to demonstrate the effectiveness and correctness of the proposed method.