Adaptive Sliding Mode Trajectory Tracking Control of Mobile Robots

To enhance the stability of mobile manipulators in tracking dynamic noncooperative targets within complex environments, this paper proposes an adaptive sliding mode control method. First, considering the characteristics of system nonlinearity, strong coupling effects, and gravitational influences, a dynamic model of the mobile manipulator is established using Lagrange's equations. Next, addressing the significant impact of the coupling between the chassis and the manipulator on system control and motion accuracy, an adaptive sliding mode dynamic programming trajectory tracking control strategy is designed to improve the system's balance and stability. Finally, through simulations conducted using Matlab in conjunction with the Virtual Robot Experimentation Platform (VREP), the effectiveness of the proposed control method is validated under various operating conditions.