A New Tracking Control Algorithm for a Wheeled Mobile Robot Based on Backstepping and Hierarchical Sliding Mode Techniques

摘要

The paper presents a recently developed trajectory tracking control algorithm for a wheeled mobile robot, which incorporates hierarchical sliding mode and backstepping control routines. The so-called backstepping hierarchical sliding mode tracking control guarantees the closed-loop stability and zero tracking error. Numerical simulation results show the effectiveness and the capability for practical applications of the proposed control method.