Adaptive Sliding Mode Tracking Control of Nonholonomic Mobile Robot

Abstract

The trajectory tracking control problem for the dynamic model of nonholonomic mobile robot is discussed even in the presence of unknown parameters and bounded uncertainties. Using backstepping technique and adaptive sliding mode control method, a global asymptotically tracking control law is developed. The proposed control law can guarantee that the mobile robot will track the desired trajectory. Furthermore, the propose control law breaks down nonlinear systems into low dimensional systems and simplifies the controller design using virtual control inputs and partial Lyapunov functions. The control law which obtains via the simple method has the strong robustness. Simulation results are provided to illustrate the flexibility and correctness of the controller.