Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

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.

Adaptive sliding mode control for uncertain wheel mobile robot

“…Recently, many efforts have been introduced to solve the problem of tracking control for WMR including backstepping control [8]- [11], adaptive control [12]- [15], sliding mode control (SMC) [16]- [24], and intelligent control [25]- [28]. In these, the sliding mode control is one of the popular control algorithms to deal with the problems of nonholonomic WMRs.…”

Optimal Design and Performance Comparison of a Combined ANFIS-PID with Back Stepping Technique, Using Various Meta-Heuristic Algorithms to Solve Wheeled Mobile Robot Trajectory Tracking Problem

“…Each application has a special constraint connected to the robot composition (non-holonomic properties of WMRs), Moreover, WMRs are disturbed by task conditions, external load interruption, wheel slips, feedback sensors, which make the design of a precise control technique more difficult [6]. For that purpose, the investigating for new highly precise regulation schemes is required.…”

An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV

“…To improve the accuracy of trajectory tracking control, an enhanced variable structure based on sliding mode has also been designed. The projected trajectory track control technique can improve the power of mobile robots and minimize the error of a pose 9 . A continuous sliding mode control (CSMC) scheme is also developed for high-precision trajectory tracking tasks.…”