A nonlinear trajectory tracking algorithm design based on second-order sliding mode control for mobile robots

This paper deals with the target tracking problem for a two wheeled mobile robot(WMR), which has been widely studied recently. The tracking math model was established according to the characters of WMR. Meanwhile a nonlinear tracking algorithm was presented based on second-order sliding mode control theory, considering the kinematics of tracking math model and the uncertainty of target acceleration. A special observer was designed to estimate the target acceleration at the same time, and the simulation and experiment results verified the effectiveness of the trajectory tracking algorithm.