A Sliding-mode-like Design for Model-free Tracking of Nonholonomic Mobile Robots

This paper considers the problem of designing a high-gain sliding-mode-like feedback control law for the model-free tracking of nonholonomic mobile robots. The control approach developed in this work does not need any a-priori knowledge about the model of the robots. A model-free, self-support control algorithm is proposed such that the tracking error can be driven into a pre-specified neighborhood of zero just by using incomplete informations of the moving objects to be tracked. Global stability of the corresponding closed-loop system of tracking error is proved by the Lyapunov stability theory. Finally, the simulation results demonstrate the effectiveness of the proposed controller design method.