The Optimized Path Tracking Control of Mobile Robots Based on Adaptive Sliding Mode

摘要

In this paper, the path tracking control problem for the kinematic model of nonholonomic mobile robot with two actuated wheels is discussed even in the event that unknown parameters for the radius of wheels and the unknown distance of two actuated wheels each other. Based on the backstepping and adaptive sliding control algorithm, a switch function for variable structure control is designed. And then adaptive sliding mode tracking controller with global asymptotically stability is studied. The control law, which is obtained via the simple method, has the strong robustness. The optimized path tracking control of mobile robots based on modified particle swarm algorithm (PSO) is achieved by the adaptive sliding-mode tracking controller. Simulation results show the flexibility and correctness of the controller.