Disturbance Rejection Based Control Strategies for Mobile Robot

摘要

This paper presents a two step disturbance compensator based controller design for mobile robot. In first step a kinematic sliding controller is designed for trajectory tracking using supertwisting control. Supertwisting control also acts as a disturbance observer, hence it rejects the disturbance of the kinematic model. Furthermore the connection between the kinematic and the dynamic model has been given to link the two controllers. In second step dynamic controller is designed using novel backstepping controller with the help of supertwisting reaching law. The supertwisting reaching law is chattering free as well as it rejects the disturbance present in the system, hence acts as a disturbance compensator. Simulations are performed for different types of trajectory tracking and comparative study is given to show the effectiveness of the proposed method.