Variable Structure wheeled mobile robot control method

The invention discloses a variable structure control method of a wheeled mobile robot. according the method, the linear motion of a robot is controlled by using a multimodal PID (proportion integration differentiation) control method; and a forward direction of a trolley is corrected by using the combination of a control method and a PID control and a rule control; the two control modes are switched through the changes of a directional angle and a centre offset; the robot is controlled to turn in an in-situ right angle turning mode according to turning direction information and position information; by using the multimode PID control and the combination of the rule control and the PID control, the algorithm can use different control algorithms and corresponding control parameters according to different states of the robot to effectively improve the robot motion control performance; the control mode is divided according to the error change condition so as to reasonably simulate the control behavior of a human; compared with the traditional PID control method, the variable structure control method has a certain intelligence and improves the walking motion control quality of the robot.