Adaptive Sliding Mode Based Disturbance Attenuation Tracking Control for Wheeled Mobile Robots

Abstract

This paper is devoted to investigating a composite controller for wheeled mobile robots in the presence of external disturbance and parametric uncertainty. Unlike the traditional backstepping technique existing the impractical velocity jumps, the proposed neural dynamic model has the ability to generate smooth continuous signals. Subsequently, a disturbance observer based adaptive sliding mode dynamic controller is introduced to estimate disturbances online, adjust control gain automatically and eliminate chattering phenomena completely. Under the developed control law, the ultimate boundedness of all signals is guaranteed and the tracking errors can be arbitrarily small in finite time. Simulation results are carried out to demonstrate the effectiveness of the proposed scheme.