Mingyue Cui,∗,∗∗ Hualong Jiang,∗ Yangbing Zheng,∗,∗∗ Yiyuan Cheng,∗,∗∗ and Wei Liu,∗,∗∗
Wheeled mobile robot (WMR), angle error observer (AEO), sliding mode control, reaching law method, adaptive control
This paper presents an adaptive sliding-mode control (ASMC) method with angle error observer (AEO) for trajectory tracking control of the wheeled mobile robots (WMRs) with unmeasurable direction angle and model uncertainties. In order to realise controller in lack of direction angle error information, the AEO is proposed on the basis of the tracking error model. Moreover, the proposed novel ASMC method incorporates the merits of exponential reaching law and power reaching law, a sliding mode control (SMC) law with adaptive switching gains is designed. The switching function is designed by backstepping method at kinematical level, and then SMC law is designed by employing the improved new reaching law. Furthermore, the adaptive updating law of switching gains of SMC and unknown model uncertainties are deduced according to the Lyapunov’s direct method. Finally, the simulations and experiments are conducted to verify the tracking control method can effectively enhance robustness in the tracking process, improve the accuracy of trajectory operation, and have good stability.
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