Nonlinear tracking control of a wheeled mobile robot

Abstract

This paper investigates the problem of trajectory tracking for nonholonomic wheels mobile robots. Constraints nonholonomic that arise in this type of robot, and the uncertainties in the system parameters and disturbances present difficulties and problems in trajectory tracking of mobile wheeled robots, which limits the region of application. To solve this problem, a nonlinear controller based on Lyapunov theory associated with sliding mode control is developed. The simulation results show the tracking performance of the proposed control.