Dynamic Sliding Mode and Backstepping controllers for Trajectory Tracking of Mobile Robot Wheeled

Trajectory tracking for a wheeled mobile robot is a complex problem encountered in robotics science. Many difficulties affect robot tracking control such as, nonlinear model, robot parameter uncertainties, external factors and disturbances. In this article, two controllers: dynamic sliding mode (DSMC) and dynamic backstepping (DBKC) are proposed for path following. The main objective of the developed algorithms is to control a non-holonomic wheeled mobile robot (WMR), The design of the two controllers (DSMC) and (DBKC) is based on Lyapunov's theorem, the kinematic controller is used to provide the desired values of the linear and angular velocities for the given trajectory. A stability analysis based on Lyapunov is presented to ensure the stability and convergence of WMR to the desired position, speed and velocity. . The simulation results show the effectiveness of the robust controllers proposed in terms of precision and stability in different types of trajectories.