Quasi-sliding mode variable structure control for trajectory tracking of six-wheeled mobile robot

This paper presents the problem of trajectory tracking control for the nonholonomic six-wheeled mobile robot. Based on backstepping control algorithm, a switch function for quasi-sliding mode control is designed and a quasi-sliding mode controller with global asymptotically stability is proposed for the kinematic model. This method simplifies the controller design and is applicable to the trajectory tracking control of the mobile robot, and it can effectively reduce the chattering phenomena existed in the conventional sliding mode control. Simulation results are provided to demonstrate the effectiveness and correctness.