Trajectory tracking system of wheeled robot based on immune algorithm and sliding mode variable structure

An immune algorithm and a technique of sliding mode variable structure control (VSC) are proposed to achieve real-time and accurate control of wheeled robot in view of uncertainties for time-varying, strong coupling and nonlinear characteristics of wheeled robots, coupled with change of load and influence of external disturbance in traditional control algorithm based on classical control theory. First, the VSC parameters are adjusted online by the immune algorithm, which overcomes limitation that the parameters of reaching law need to be set in advance in conventional VSC. Secondly, the algorithm not only retains advantages of the traditional reaching law, but also effectively improves control quality and eliminates chattering of the system. The experimental results show that the control technique makes the wheeled robot move on sliding surface in an ideal way, for main concern of this paper is to provide an effective systemic for control of wheeled robot.