Trajectory Tracking Control of WMR Based on Sliding Mode Disturbance Observer with Unknown Skidding and Slipping

Abstract

This paper proposed a novel trajectory tracking control method for the wheeled mobile robot with unknown skidding, slipping and uncertainty of dynamics system. The method is based on sliding mode control and disturbance observer by using back-stepping design technology. The WMR system uncertainties of parameters and non-parameters are compensated fast through disturbance observer. In combina-tion with sliding mode control, the compensating error is eliminated further, such that the control precision is improved, the chattering of sliding mode control has also been eliminated. During the design process, the technique of Lyapunov is used, which has proved that the control system is asymptotically stable, and the simulation results verify the effectiveness of the methods.