Dynamics modeling and trajectory tracking control of a life support robot using sliding-mode control with extended state observer

This paper investigates the trajectory tracking control problem of a life support robot chassis under the slipping disturbances. First, a novel dynamics model for the robot chassis is proposed based on Lagrange equation. The constructed model incorporates the effects of rotational kinetic energy from the driving wheels, providing a more comprehensive representation of the chassis dynamics. Then, on the basis of the innovative framework, the dual-loop trajectory tracking control is derived for the chassis, via the kinematics-based backstepping controller and the dynamics-based sliding-mode controller. Moreover, an extended state observer is designed to reduce the influence caused by external disturbances. Finally, the effectiveness and superiority of the proposed tracking control approach are verified through simulation experiments.