Abstract
This paper addresses a robust continuous sliding mode control (CSMC) approach for the tracked mobile robot (TMR). Considering the attractive properties of strong robustness and chattering reduction, a CSMC method is firstly adopted for a disturbed TMR. To further improve the disturbance suppression ability, two nonlinear disturbance observers (NDOs) are designed respectively to estimate various disturbances in the kinematics and dynamics models of the studied system. Then, by combining the CSMC and NDOs, a novel cascaded control framework is constructed, which can make the system obtain stronger anti-disturbances capability because the proposed controllers possess smaller control gains due to disturbance compensations. The stability analysis of the entire closed-loop system under the proposed control approach is also discussed. The presented controller is verified by the simulation and experiment.
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