Adaptive sliding mode control of tracked mobile robot under unknown bounded disturbance

摘要

Tracked mobile robots (TMRs) will be affected by unknown interference force during operation such as interference forces of mobile robotic manipulator. The TMR dynamics model is difficult to be obtained accurately. In order to solve this problem, this paper uses a kind of dynamic steering resistance torque which can more accurately describe the force situation of the robot when turning. Based on this dynamic model, a dynamic adaptive sliding mode controller (DASMC) is proposed to track the desired speed and combine with kinematics controller (KC) to track desired trajectory. The simulation shows that this control method has strong robustness to the applied bounded external disturbance force. Compared with sliding mode controller (SMC), it can be found that the adaptive law can effectively estimate the disturbance and overcome the chattering problem of SMC.