Trajectory tracking for nonholonomic wheeled mobile robots based on an improved sliding mode control method

Abstract

In this paper, an improved sliding mode algorithm with global asymptotic stability is presented for tracking control of nonholonomic mobile robot. Centroid offset parameters are used in the design of the controller, which can drive the position error to zero quickly in the premise of guaranteeing stability of the whole system. The Kinematics mathematical model and the position and posture error model of the mobile robot are presented. Switch function of variable structure control is designed based on the backstepping method. Comparative experiments are given and simulation results show that the proposed control method is effective and has better control performances.