Trajectory tracking control for WMR in the presence of slip, uncertainty and disturbance based on adaptive sliding mode approach

摘要

The wheels’ slipping of wheeled mobile robot (WMR) in real environment is undeniable. In order to control this phenomenon, in this article an adaptive sliding mode control (ASMC) is designed for WMR in order to track the desired trajectory by considering longitudinal slipping. The dynamic model of WMR with slipping parameters, uncertainties and disturbances is derived. In order to compensate these parameters, the proposed ASMC is used. Asymptotic stability of the closed-loop system is proved by choosing the appropriate Lyapunov function. The proposed approach is verified with adaptive control method and sliding mode control. Results show that the speed of trajectory tracking and converging to zero of the errors for the proposed method is faster than adaptive and SMC method.