Trajectory tracking for non-holonomic mobile robots: A comparison of sliding mode control approaches

Abstract

This paper implements and compares the performance of three controllers based on Sliding Mode Control (SMC) applied to the motion control of mobile robots. The controllers include a standard SMC controller and two variations, namely Dynamic Sliding Mode Control (D-SMC) and Dual Sliding Mode Control (DM-SMC). The three controllers differ from conventional SMC approaches since they are designed based on a generic reduced-order empirical model that can represent any system that exhibits behavior akin to a First-Order Plus Delay Time (FOPDT) system. In this study, the comparison of controllers focuses on the Trajectory Tracking Problem (TTP) of a Nonholonomic Mobile Robot (NMR). Performance indices are employed to quantify the controllers' results across three trajectory types. Simulation results evidence that if a smooth curvature trajectory is tracked, the best performance (in terms of minimizing trajectory tracking error and controller effort) can be obtained by using a DM-SMC. On the other hand, if there are discontinuities in the curvature, the results suggest that a better alternative is the D-SMC since it compensates for abrupt changes as in the case of tracking a square trajectory. Overall, the findings from this work demonstrated that the use of simplified empirical models to design SMC-based motion controllers can be successfully applied to solve the TTP of NMR.