First Order Dynamic Sliding Mode Control for Wheeled Mobile Robots

Abstract

AbstractBased on the sliding mode variable structure control theory, a first order dynamic sliding mode control algorithm is proposed for a nonholonomic wheeled mobile robot system. In this paper, a new switching function which related to the derivative of the control input is designed by modified conventional sliding mode control switching function using differential block, and the dynamic sliding mode control algorithm transfers the discontinuous input terms into the derivative terms that can reduce the chattering of the system. The Lyapunov function and the exponential approximation law using saturation function instead of sign function which also can reduce the chattering are used and combined with the first order dynamic sliding mode control algorithm the control law of the wheeled mobile robot is derived. Finally, the control law is designed and simulated by the proposed algorithm for the wheeled mobile robot, and the simulation results show that the first order dynamic sliding mode control algorithm can make the system convergence fast and also can reduce the chattering of the system that caused by the characteristic of the sliding mode control.Keywordssliding mode variable structure controldynamic sliding mode controlnonholonomicwheeled mobile robot