Dynamic Modeling and Tracking Control for Wheeled Mobile Robots

Newton-Euler approach was used to derive the dynamic model of wheeled mobile robot since wheeled mobile robot is subject to nonholonomic constraints.The motion constraints was incorporated as part of the derivation directly,and the dynamic characteristcs of the motors was considered in the dynamic model.Since uncertain parameters and external disturbances exist during the working of the mobile robot,sliding mode trajectory tracking controller was designed in which the torque of the two wheels was the input.The reaching law was used to reduce the chattering of the controller.Simulation results illustrate the feasibility of the derived model as well as effectiveness of the proposed control strategy.The entire state of the system can track the desired state trajectories well.