Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots

This paper proposes an integral sliding control system based on the nonlinear disturbance observer, aiming to the trajectory tracking of the mobile robot under the external disturbance. First, a kinematic model of mobile robot was built, besides, the position error signal was gained by the biological membrane potential model, and the problem of velocity oscillation was solved by the design of the backstepping controller. Then, an integral...