Adaptive tracking control of wheeled mobile robots with finite-time sliding mode controller and disturbance observer

This research proposes an adaptive tracking controller based on adaptive integral terminal sliding mode controller and a disturbance observer for non-holonomic wheeled mobile robots under the impact of model uncertainty and unknown disturbance. First, both the kinematic controller and the adaptive integral terminal sliding mode controller for the kinetic loop will be revisited. Then, the model uncertainty and unknown disturbance are put into a lumped disturbance. A lumped disturbance observer is designed based on the approximation of the first derivative and the optimisation. It will be used for compensating the lumped disturbance in the input. Next, the stability of the closed-loop kinetic system is rigorously analysed. The trajectory tracking error is proved to be bounded subject to model uncertainty and unknown disturbance. Finally, numerical simulations are carried out to verify the effectiveness of the proposed controller in comparison with existing methods. It provides better performance than the compared methods.