Abstract: Aiming at the problems of parameter perturbation and internal and external disturbances of wheeled mobile robots, a novel sliding mode control algorithm based on adaptive extended state observer is proposed. An adaptive virtual velocity controller is used to estimate unknown parameters of the system, a sliding mode controller is used to suppress parameter perturbations and internal and external disturbances, and a nonlinear extended state observer is used to observe system perturbations and reduce the chattering of the control inputs, so the trajectory tracking error is rapidly converging. Lyapunov theory is adopted to prove the stable convergence of the control system. The proposed algorithm is compared with the traditional adaptive inversion sliding mode algorithm, and the results show the effectiveness and robustness of the proposed control strategy. 

Key words: wheeled mobile robot, trajectory tracking control, extended state observer, sliding mode controller, adaptive virtual speed controller