An Adaptive Variable Structure Controller for the Trajectory Tracking of a Nonholonomic Mobile Robot with Uncertainties and Disturbances

摘要

In this paper, a trajectory tracking control for a nonholonomic mobile robot subjected to uncertainties and disturbances in the kinematic model is proposed. An adaptive variable structure controller based on the sliding mode theory is used, and applied to compensate these uncertainties and disturbances. To minimize the problems found in practical implementation using classical variable structure controllers, and eliminate the chattering phenomenon as well as compensate disturbances a neural compensator is used, which is nonlinear and continuous, in lieu of the discontinuous portion of the control signals present in classical forms. The proposed neural compensator is designed by a modeling technique of Gaussian radial basis function neural networks and does not require the time-consuming training process. Stability analysis is guaranteed with basis on the Lyapunov method.
\nSimulation results are provided to show the effectiveness of the proposed approach.