IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v12y2024i10p1458-d1390671.html
   My bibliography  Save this article

Backstepping and Novel Sliding Mode Trajectory Tracking Controller for Wheeled Mobile Robots

Author

Listed:
  • Hangjie Huang

    (Qixin Honors School, Zhejiang Sci-Tech University, Hangzhou 310018, China)

  • Jinfeng Gao

    (School of Information Science and Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China)

Abstract

A novel variable structure controller based on sliding mode is developed for addressing the trajectory tracking challenge encountered by wheeled mobile robots. Firstly, the trajectory tracking error model under the global coordinate system is established according to the kinematic model of the wheeled mobile robot. Secondly, the novel sliding mode algorithm and backstepping method are introduced to design the motion controller of the system, respectively. Different sliding mode surfaces are formulated to guarantee rapid and stable convergence of the system’s trajectory tracking error to zero. Ultimately, comparative simulation trials validate the controller’s ability to swiftly and consistently follow the reference trajectory. In contrast to traditional controllers, this controller shows rapid convergence, minimal error, and robustness.

Suggested Citation

  • Hangjie Huang & Jinfeng Gao, 2024. "Backstepping and Novel Sliding Mode Trajectory Tracking Controller for Wheeled Mobile Robots," Mathematics, MDPI, vol. 12(10), pages 1-14, May.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:10:p:1458-:d:1390671
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/12/10/1458/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/12/10/1458/
    Download Restriction: no
    ---><---

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:12:y:2024:i:10:p:1458-:d:1390671. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.