%0 Journal Article %A LIU Guo-Rong %A LIU Huan %A LIU Tong-Bei %A ZHANG Yang-Ming %T Trajectory tracking control based on Lyapunov and Terminal sliding mode %D 2012 %R 10.3724/SP.J.1087.2012.03243 %J Journal of Computer Applications %P 3243-3246 %V 32 %N 11 %X In view of the kinematic model of mobile robot, a tracking controller of global asymptotic stability was proposed. The design of tracking controller was divided into two parts: The first part designed the control law of angular velocity by using global fast terminal sliding mode in order to asymptotically stabilize the tracking error of the heading angle; the second part designed the control law of linear velocity by using the Lyapunov method in order to asymptotically stabilize the tracking error of the planar coordinate. By combining Lyapunov stability theorem and two control laws, the mobile robot can track the desired trajectory in a global asymptotic sense when the angular velocity and the linear velocity satisfy these control laws. The experimental results show that the mobile robot can track desired trajectory effectively. It is helpful for promoting the practical application. %U http://www.joca.cn/EN/10.3724/SP.J.1087.2012.03243