Sliding Mode Control Based on Inversion Design and Bounded Input Constraint for Path Tracking of Mobile Robot

Abstract

In order to solve the problem of path tracking of mobile robot, a sliding mode control strategy is proposed. Firstly, a sliding mode controller based on the inversion algorithm is designed, and the low-pass filter is used to reduce the interference in the control process. On this basis, for solving the problem that the dynamic performance of the previous controller is not ideal, the bounded input constraint is used to improve the control law. The simulation results show that the improved controller not only has good tracking effect and fast dynamic response, but also ensures the global asymptotically stability.