Robust control of wheeled mobile robot in presence of disturbances and uncertainties

摘要

This paper deals with the trajectory tracking control problem of nonholonomic wheeled mobile robot, in the presence of external disturbances and parameters uncertainties. The computed torque controller may be used to make convergence of WMR on desired trajectory. Due to the weak of performance against external disturbances, a sliding mode controller is presented. The stability of the controllers is proven by utilizing the Lyapunov stability theory.