ROS-based trajectory tracking control for autonomous tracked vehicle using optimized backstepping and sliding mode control

This paper investigates the trajectory tracking control of an autonomous tracked vehicle. First, the desired linear and angular velocities are evaluated based on vehicle’s kinematics. An optimized backstepping controller is proposed as the kinematic controller, whereas the controller gains are optimally obtained. Next, an integral sliding mode control (SMC) is exploited based on vehicle dynamics and slipping characteristics, to obtain the desired torques that drive the vehicle and converge its trajectory to the desired one. Moreover, stability analysis of the whole system is proven based on Lyapunov theory. Finally, simulations and real-time experiments based on robot operating system (ROS) implementation are conducted to validate the effectiveness of the proposed control algorithm and compared with a hybrid backstepping-modified PID dynamic controller.