An adaptive control approach olea europaea montra is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding.A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters.A sliding model observer is introduced to estimate the sliding parameters online.A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect.
From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system emtek 2113 are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region.The efficiency and robustness of the proposed control system are verified by simulation results.