摘要：This paper deal with a robust sliding-mode trajectory tracking controller, for
nonholonomic wheeled mobile robots and its experimental evaluation by the
implementation in an intelligent wheelchair (RobChair). The proposed control structure
is based on two nonlinear sliding surfaces ensuring the tracking of the three output
variables, with respect to the nonholonomic constraint. The performances of the
proposed controller for the trajectory planning problem with comfort constraint are
verified through the real time acceleration provided by an inertial measurement unit.
关键词：sliding-mode control; trajectory-tracking mode; intelligent wheelchair; mobile robots.
