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Research on trajectory tracking of crawler robot based on sliding mode control

Crawler robot has been used widely in many areas because of its excellent adaptation for all kinds of complex terrain. As one of automatic control methods for the trajectory trace of robot, sliding mode control has advantages over others because of its non-sensitivity and capability of quick response when the system parameters change, it will be used in this paper for the trace of trajectory. To begin with we can build the mathematical model of robot. And then we analyze the theory of sliding mode control in detail. In order to reduce chatter while ensure the reaching time, we use sliding mode control with exponential reaching law instead of conventional law, and design the controller of crawler robot. At last, a simulation experiment is conducted to show that sliding mode control with exponential reaching law is very effective in the trajectory trace.