A robust tracking control strategy is designed to empower wheeled mobile robots (WMRs) to track predetermined routes while operating in diverse fields and encountering disturbances like strong winds or uneven path conditions, which affect tracking performance. Ensuring the applicability of this tracking method in real-world scenarios is essential. To accomplish this, the WMR model is initially transformed into a linear canonical form by leveraging the differential flatness of its kinematic model, facilitating controller design. Subsequently, a novel integral nonlinear hyperplane-based sliding mode control (INH-SMC) technique is proposed for WMR under disturbances. The stability of the technique is analyzed and verified. Finally, its practical viability is demonstrated through a comparative real-world indoor experiment on a TurtleBot3 WMR subjected to disturbances, confirming the feasibility and efficacy of the proposed approach.
翻译：本文设计了一种鲁棒跟踪控制策略，旨在使轮式移动机器人能够在多样化场景中运行并遭遇强风或不平整路径等干扰时，仍能准确跟踪预定轨迹，这些干扰会影响其跟踪性能。确保该跟踪方法在实际场景中的适用性至关重要。为实现此目标，首先利用轮式移动机器人运动学模型的微分平坦特性，将其模型转化为线性规范形式，从而简化控制器设计。随后，针对受扰动的轮式移动机器人，提出了一种基于新型积分非线性超平面的滑模控制方法。对该方法的稳定性进行了分析与验证。最后，通过在受扰动的TurtleBot3轮式移动机器人上进行对比性室内实物实验，证明了该方法的实际可行性及有效性，从而确认了所提方案的实用性与效能。
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