Dynamic Surface Control Tracking Algorithm for Four-wheel Differential Drive Mobile Robot

摘要

The article presents the development of a dynamic and kinetic model for a non-holonomic four-wheel differential drive Mobile Robot (FWDMR) and the application of the Dynamic Surface Control (DSC) algorithm to trajectory tracking control for the FWDMR, considering the influence of wheel slip. The research results show that the proposed model based on the DSC has good noise resistance and stability for each control loop, demonstrated based on Lyapunov criteria. The quality of the controller is verified by numerical simulation using Matlab-Simulink. The simulation results demonstrate the effectiveness and practical application of the proposed model and trajectory tracking control algorithm.