Abstract
Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.
Highlights
A mobile robot is a dynamic nonlinear device, with the benefits of unmanned driving and different controlling practices [1]
Among them, wheeled mobile robot (WMR) has a wide range of practical application background [3]. This kind of system is a typical nonholonomic dynamic system because the rolling contact between the wheel and the ground must satisfy the nonholonomic constraint of pure rolling and no slipping
The nonholonomic constraints received by wheeled mobile robots are generally expressed as first-order differential equations
Summary
A mobile robot is a dynamic nonlinear device, with the benefits of unmanned driving and different controlling practices [1]. 2. Trajectory Tracking Control in accordance with Improved Sliding Mode Variable Structure. The tracking trajectory included details about the spatial location and the kinematic model and tracking trajectory feature of the nonholonomic mobile robot with wheels, as well as information on speeds and mobile angles [17]. The nonholonomic constraints received by wheeled mobile robots are generally expressed as first-order differential equations. When the system does not satisfy the linear parameterization condition or when the system model has both structural and parametric uncertainties, a sliding mode control algorithm can be used. Compared with the traditional control algorithm, the sliding mode production variable structure control method is discrete; that means, the high-frequency switch control is used to switch between several control laws, which can make the system oscillate with small amplitude and high frequency near the set space surface. The concept of sliding mode control combines a trajectory tracking controller with global asymptotic stability
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