<![CDATA[Trajectory tracking of non-holonomic autonomous mobile robots (AMRs) becomes more demanding when a passive trailer is towed and wheel slip occurs. This study developed a two-surface sliding mode control (SMC) scheme that regulates the distance and heading errors of a pure-pursuit lookahead point and maps the desired accelerations to wheel torques through dynamic inversion, with boundary-layer saturation, heading-singularity safeguards, and jackknife protection. The controller was evaluated in ROS 2 Jazzy and Gazebo Harmonic and integrated with a breadth-first search (BFS) planner using mode-adaptive obstacle inflation. On an oval path with a rigid hitch, the tracking root-mean-square error (RMSE) was 0.042 m, whereas a replicated three-surface baseline diverged (RMSE 4.68 m) with 79.5% torque saturation; the proposed controller required approximately five times less control effort without saturation. A LuGre-based slip test showed that wheel-odometry feedback diverged substantially from ground truth, supporting map-based localization. Hardware validation remains necessary.]]>
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