Trajectory Tracking Of Mobile Robot And Platoon Control Based On Sliding Mode Control

In recent years,mobile robot technology has become one of the important branches of automation control,and has been widely used in various fields,which has great application prospects and research value.The rapid development of control science,computer technology and artificial intelligence has gradually enriched and perfected the functions of mobile robots,and at the same time,it has put forward more and higher requirements on the robot's ability to perform tasks.First,this article briefly introduces the structure and principle of the laboratory mobile robot platform,the platform consists of a vision positioning system,a wireless communication system,and the ISRV mobile robot.The kinematics and dynamics modeling of the ISRV mobile robot is then performed.It provides experimental conditions for verifying the algorithm proposed in this paper.Then,based on Coupled Sliding Mode Control and Artificial Neural Network technology,the trajectory tracking controller of the mobile robot was designed,and verified by MATLAB and experimental platform.Experimental results show that the proposed algorithm has good effect,good stability and strong anti-interference ability.Finally,a dynamic model of the vehicle formation system is established,and the Constant Time Headway Policy(CTH)is adopted,so that the control input no longer needs the mass information and acceleration information of the preceding vehicle,which reduces the computing load of the on-board computer,the cost of sensors and communication pressure.According to the adopted model,an adaptive integral sliding mode controller is introduced.The Lyapunov function was used to verify the stability of each vehicle in the platoon,and it was proved that the entire car formation reached string stability in a limited time.