Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe environmental interference. A kinematics model based adaptive sliding mode disturbance observer with fast convergence is first proposed to estimate the lumped disturbances. On this basis, a robust controller with prescribed performance is proposed using a backstepping technique, which improves the transient performance and guarantees fast convergence. Simulation outcomes have been provided to illustrate the effectiveness of the proposed control scheme.

翻译：自主手推车收集机器人（ATCR）的轨迹跟踪控制是一项具有挑战性的任务，这归因于复杂的环境、严重的噪声和外部扰动。本文研究了一种针对遭受严重环境干扰的ATCR的控制方案。首先，提出了一种基于运动学模型的快速收敛自适应滑模干扰观测器，用于估计集总干扰。在此基础上，采用反步法设计了一种具有规定性能的鲁棒控制器，该控制器改善了瞬态性能并保证了快速收敛。仿真结果已提供，以验证所提控制方案的有效性。