Research on Trajectory Tracking Method for Wheeled Mobile Robot

This paper centers on the problem of matching and mismatching uncertainty interference of Wheeled Mobile Robot (WMR) in complex environments. Firstly, a WMR dynamics model is established and the state-space equations of the model are formally transformed. Based on the improved Super-Twisting Algorithm (STA), a sliding mode controller is constructed, and a dynamic gain adjustment mechanism is introduced to suppress the high-frequency jitter phenomenon of the traditional sliding mode so as to balance the tracking accuracy and the jitter suppression requirements. Simulation results show that the designed controller can effectively improve the dynamic response characteristics and trajectory tracking accuracy of the system, which verifies the effectiveness and robustness of the tracking method.