Barrier function based sliding mode trajectory tracking control of wheeled robots
GUO Baodi
CAO Teng
MA Zhuang
YANG Shaohua
Abstract：The paper presents a trajectory tracking control strategy for wheeled robots subject to unknown disturbances.A learning observer is designed to estimate the position and orientation angle of the wheeled robots while reconstructing the unknown disturbances.Based on the estimated values of the learning ob-server,a sliding mode controller combined with the barrier function is designed to effectively control the estimated errors of the position and orientation angle in trajectory tracking.A rigorous Lyapunov stability analysis is given to prove the stability of the closed-loop system under the proposed control strategy.Sim-ulation results validate the effectiveness and robustness of the proposed approach.
Keywords：wheeled robotslearning observerbarrier functionsliding mode controltrajectory tracking control
Publication Date：2025-12-31
Online Publishing Date：2026-08-28(First online date of this platform, not the publication date of the document)
Pages：9( 831-839 )