Trajectory Tracking of Wheeled Mobile Robot using Adaptive Second Order Sliding Mode Controller

摘要

This paper considers the problem of robust adaptive trajectory tracking control for wheeled mobile robot (WMR) in the presence of both matched and unmatched uncertainties. First, the trajectory tracking of the WMR is converted to a problem of the stabilization of a double integral system. Next, a robust adaptive second order sliding mode control (SOSMC) is designed in order to build tracking controller. In addition, an integral sliding mode switching surface is proposed to construct the attractiveness and reachability of sliding mode. Finally, a comparative study with classical super-twisting algorithm (STA) and modified STA illustrates the robustness and the effectiveness of the proposed approach.