Sliding Mode Control of Trajectory Tracking for Nonholonomic Wheeled Mobile Robots

摘要

Due to the nonholonomic property and restricted mobility,the trajectory tracking of the wheeled mobile robot system has been one of the challenging class of control problems.To a nurse helpmate robot that can execute nursing task in hospital,a sliding mode control method of trajectory tracking for wheeled mobile robots is proposed.A sliding mode control design method is presented.A sliding mode controller is designed based on the kinematic equation of a mobile robot in polar coordinates.And the tracking problem on kinematic of robots in polar coordinates is solved.The stability and performance analyses are performed.The simulations demonstrate the practical application of the proposed method.