Turning motion control design of the two-wheeled mobile structure by using a dynamical tracking target

This paper presents a novel control design method for implementing planar turning motion of a two-wheeled mobile structure. Firstly, by using the theory of planar curve, key observations about the motion law of the two-wheeled mobile chassis are made. Based on this motion law, a dynamical trajectory tracking target with the relative curvature of a given target trajectory curve is set up. Secondly, by adjusting the parameters in forward speed target, the initial speed error that affects the accumulative error of position coordinate can be reduced to approach zero. Finally, by chosing the dynamical yaw rotational speed target as the integral slding mode manifold, an integral sliding mode controller is designed for tracking the given target trajectory curve. An illustrative example is given to demonstrate the high-validity of the proposed curvature tracking method with numerical simulation.