Abstract
This paper presents a trajectory tracking control scheme for a three wheeled mobile robot using sliding mode control method system. The indoor mobile robot system is subject to parameter perturbation and external interference during trajectory tracking control, and the problem of slow tracking speed and large tracking error will occur. In order to improve the tracking precision, a sliding mode control algorithm based on new approach law is proposed. Firstly, the motion control model of mobile robot is established, and a sliding mode trajectory tracking controller is designed. Then adopting MATLAB to track the linear and circular trajectories, the tracking error converges to zero around 3s. Experimental results show that sliding mode control method effectively reduces sliding mode control input chattering, and the convergence speed and tracking accuracy improve. Finally, the effectiveness of the control method is thus verified in practice.
Published Version
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