Advanced trajectory tracking control for wheeled mobile robots under actuator faults and slippage

Abstract

Trajectory tracking control for wheeled mobile robots (WMRs) faces significant challenges in real-world applications due to actuator faults, longitudinal and lateral slippage. This study proposes an innovative dual-loop control structure combining adaptive sliding mode control (ASMC) and backstepping control (BC), supported by robust fault observers, to address these challenges. The dynamic loop employs ASMC to handle model uncertainties and disturbances, while the kinematic loop integrates BC with fault information provided by the observers, enabling real-time error compensation. Simulation results show that the proposed method significantly reduces tracking errors and improves stabilization time compared to traditional SMC and ASMC controllers. The system exhibits enhanced fault tolerance and disturbance rejection, maintaining stability under both normal and faulty conditions. The effectiveness of this approach is demonstrated through simulations and theoretical analysis, ensuring system stability using Lyapunov stability theory. The proposed method enhances robustness, adaptability, and stability of WMRs, contributing significantly to the field of mobile robotics under adverse conditions.