Research on Double Closed-loop Trajectory Tracking Control Algorithm of Wheeled Mobile Robot Based on Global Stability

摘要

In this paper, a double closed-loop trajectory tracking control system with inner and outer loop structure is designed for a two-wheeled mobile robot, where the outer loop is the position subsystem and the inner loop is the attitude subsystem. Sliding mode control is adopted for attitude control design. This paper uses hyperbolic tangent function to design the position control, which can make position tracking system satisfy the Lipschitz condition, thus ensuring that the double-loop trajectory tracking control is globally stable. Through simulation, we prove that this method can improve that the effect of trajectory tracking control very well, especially in the initial stage of control.