This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle dynamics into a strict feedback form, facilitating the design of a Sliding Mode Control (SMC) strategy for precise and robust reference tracking. To ensure operational safety in dynamic environments, the tracking controller is integrated with a Collision Cone Control Barrier Function (C3BF) based safety filter. The proposed architecture guarantees asymptotic tracking in the presence of external disturbances while strictly enforcing collision avoidance constraints. The novelty of this work lies in designing a sliding mode controller for ground robots like the Ackermann drive, which has not been done before. The efficacy and versatility of the approach are validated through numerical simulations and extensive real-world experiments on three distinct platforms: an Ackermann-steered vehicle, a differential drive robot, and a quadrotor drone. Video of the experiments are available at https://youtu.be/dWcxwum96vk

翻译：本文提出了一种适用于广泛移动机器人的统一控制框架，用于实现鲁棒轨迹跟踪与移动障碍物规避。通过制定广义运动学变换，我们将多种车辆动力学转化为严格反馈形式，从而便于设计基于滑模控制（SMC）的策略，实现精确且鲁棒的目标跟踪。为确保动态环境中的操作安全，跟踪控制器与基于碰撞锥控制障碍函数（C3BF）的安全滤波器集成。所提出的架构在存在外部扰动的情况下保证渐近跟踪，同时严格强制执行碰撞规避约束。本工作的新颖之处在于：首次为阿克曼转向等地面机器人设计了滑模控制器。通过数值仿真以及在三种不同平台（阿克曼转向车辆、差分驱动机器人、四旋翼无人机）上的广泛实际实验，验证了该方法的有效性和通用性。实验视频可在 https://youtu.be/dWcxwum96vk 查看。