Dynamic Sliding Mode Controller for Trajectory Tracking Of Nonholonomic Mobile Robots

Abstract

AbstractIn this paper, a Dynamic Sliding Mode Controller (DSMC) is proposed for trajectory tracking control of a nonholonomic Wheeled Mobile Robot (WMR) in which the centroid doesn't coincide to the connection center of driving wheels. This robust controller is designed based on the developed dynamical model of WMR in Cartesian coordinates, therefore, the application limits in polar coordinates is removed. The asymptotic stability and the convergence of WMR to the desired position, velocity and orientation trajectories are proved according to the Lyapanove's direct method. Simulation results show the superiority of the proposed DSMC to the recent methods.