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Volume 11 Issue 4
Apr.  2024

IEEE/CAA Journal of Automatica Sinica

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Y. Zheng, J. Zheng, K. Shao, H. Zhao, H. Xie, and  H. Wang,  “Adaptive trajectory tracking control for nonholonomic wheeled mobile robots: A barrier function sliding mode approach,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 4, pp. 1007–1021, Apr. 2024. doi: 10.1109/JAS.2023.124002
Citation: Y. Zheng, J. Zheng, K. Shao, H. Zhao, H. Xie, and  H. Wang,  “Adaptive trajectory tracking control for nonholonomic wheeled mobile robots: A barrier function sliding mode approach,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 4, pp. 1007–1021, Apr. 2024. doi: 10.1109/JAS.2023.124002

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots: A Barrier Function Sliding Mode Approach

doi: 10.1109/JAS.2023.124002
Funds:  This work was supported in part by the China Scholarship Council (202106690037) and the Natural Science Foundation of Anhui Province (19080885QE194)
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  • The trajectory tracking control performance of nonholonomic wheeled mobile robots (NWMRs) is subject to nonholonomic constraints, system uncertainties, and external disturbances. This paper proposes a barrier function-based adaptive sliding mode control (BFASMC) method to provide high-precision, fast-response performance and robustness for NWMRs. Compared with the conventional adaptive sliding mode control, the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds. Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function. The benefit is that the overestimation of control gain can be eliminated, resulting in chattering reduction. Moreover, a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator. The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the pre-specified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.


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    • The finite-time control with predefined precision for nonholonomic wheeled mobile robot with uncertainties is achieved
    • The proposed method eliminates the requirements for uncertainty bounds and guarantees the non-overestimation for control gain
    • The actuator saturation issue is prevented by introducing a modified barrier function-like control gain with specified performance


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