Development of backstepping sliding mode tracking control for Wheeled Mobile Robot

摘要

This paper deals with the development of a new strategy for the tracking control for Wheeled Mobile Robots (WMR). Mobile robots constitute a typical example of non-holonomic systems. They become progressively important in industries as a means of transport, detection and operation because of their effectiveness and flexibility. Some distinct applications of such system include instance order pick and place robots in manufacturing zone, post delivery robots in office buildings and deep see discovery robots. Wide area of research has been carried out on the tracking control problems of WMR. The kinematic tracking control schemes do not consider the dynamics of the mobile robot, so the tracking performance may not attain satisfactory. In this development a robust control law which is called backstepping sliding mode control is proposed for asymptotically stabilizing the mobile robot to a desired trajectory. First and foremost the dynamic model of wheeled mobile robot is done by using Euler-Lagrange approach. Following the controller is designed to find an acceptable control law so that the tracking error asymptotically moves to zero as the time approaches infinity with an initial error. The simulation result shows the effectiveness of the proposed scheme.