Adaptive-Siding-Mode Disturbance-Observer-Based Control for Mobile Wheeled Robot System

摘要

The disturbance and physical parameter uncertainties of mobile wheeled robot(MWR) system are an important research topic during the trajectory tracking task. An adaptive siding mode disturbance observer (ASMDO) for the MWR system trajectory tracking task is proposed in this paper. Based on this ASMDO, a matching silding mode control is designed. The The convergence of ASMDO is proved and the stability and accuracy of the designed silding mode control is achieved our control task goal. Finally, the effectiveness of proposed methods are varified by numerical simulations.