Tracking Control of Nonholonomic Wheeled Mobile Robot Based on New Sliding Surface with Approach Angle

This paper propose a method for designing the tracking control of nonholonomic wheeled mobile robots based on a new sliding surface with an approach angle. In order to remove the singular point problem at the origin, we consider the kinematic model in Cartesian coordinates. Also, we design a new sliding surface with an approach angle to solve the sliding surface constraints problem. Therefore, with the proposed controller, we derive the control input for arbitrary trajectories. We prove that the position tracking error converges to zero by using the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.