Tracking control of wheeled mobile robots based on sliding-mode control

By using sliding-mode control and torque control based on RBF neural networked control, a new trajectory tracking control system of wheeled mobile robot is presented. Studying both kinematic and dynamical model, the RBF neural networks learn the process of mobile robot motion, and constitutes a torque controller combined with the speed error. The uniformly ultimately asymptotic stability of the closed loop error system can be obtained. The stability of entire system is proved by Lyapunov stability criterion. The simulation results demonstrate that this control strategy has good robustness.