Abstract
The sliding mode variable structure controller is designed based on a kind of wheeled mobile robot. And this controller is applied to the trajectory tracking control of the robot. At first, the kinematic model is established based on the analysis of the wheeled mobile robot's motion characteristics. And the concrete sliding mode control algorithm is given based on the model. In order to reduce the error due to the influence of noise generated in the process of control, a Kalman filter is added into the control system. At last, the simulation results based on the Matlab/Simulation show that the sliding-mode controller has good control accuracy when used in the trajectory tracking control of the robot.
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