Optimized trajectory tracking control with disturbance resistance for wheeled mobile robot

摘要

When unavoidable disturbances exist in practical applications, the unicycle wheeled mobile robot (WMR) with non-holonomic constraint is challenging to be accurately controlled in finite time. An optimized dual closed-loop strategy is proposed in this paper to solve the trajectory tracking control problem of the unicycle WMR. The control strategy with fast time convergence and anti-disturbance properties consists of kinematic and dynamics controllers and an optimization algorithm. The kinematic controller is designed with an improved backstepping method to eliminate the non-holonomic constraints. The robust sliding mode control (SMC) method with fixed-time convergence is used to construct the dynamics controller. The optimization algorithm enhances the performance of the strategy and achieves accurate control. The global convergence and robustness of the strategy are theoretically demonstrated. The effectiveness of the strategy is verified by comparison in simulations.