Trajectory Tracking of Mobile Robot Based on Improved Hierarchical Sliding Mode Control

Rong Wang; Yongchun Liu

doi:10.54097/fcis.v2i2.3751

Authors

Rong Wang
Yongchun Liu

DOI:

https://doi.org/10.54097/fcis.v2i2.3751

Keywords:

Mobile Robot, Hierarchical Sliding Mode Control, Terminal Sliding Mode Control, PD Control

Abstract

A control algorithm based on PD control and non-singular terminal hierarchical sliding mode control is proposed for tracking control of mobile robot systems. First establish a dynamic model of mobile robot under cartesian coordinate system, the system can be divided into subsystems of posture and position, attitude subsystem by using PD control, location subsystem using non-singular terminal hierarchical sliding mode control, the introduction of the system state higher order term, improve the system in the convergence speed and stability of the sliding surface, the system reaches a steady state in a limited time; Finally, the stability of the system is proved theoretically, and the effectiveness of the control method is verified by simulation.

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