Critical Saturation Function Based Sliding Mode Control for Path Tracking of Mobile Robot

Abstract

This paper proposes a new sliding mode controller, as to enhance the performance of path tracking of three-wheeled mobile robot system. To begin with, backstepping design is used to construct a new sliding mode control law for better dynamic response and robustness. Next, in order to reduce chattering, the symbolic function is replaced with the critical saturation function in the conventional reaching law. At last, the simulation results show that backstepping design combined with saturation function can not only improve the response rate and robustness of the system, but also effectively reduce the chattering.