On a Wheeled Mobile Robot Tracking Control: Sliding Mode Control Design
Abstract
This paper presents a sliding mode control applied to the trajectory tracking problem for a wheeled mobile robot. To this purpose a tracking of a reference wheeled mobile robot is considered. The sliding mode control was selected because the invariance principle is applicable to it, therefore it provides robustness. However this technique has an inherent drawback, the chattering phenomenon, a high-speed switching behavior in the output of the system resulting from the high-speed switching control that could appear in the system behavior. To overcome this problem an approximation of the switching function by a proper continuous function was considered. Although this approximation, theoretically, results in the reduction of robustness, the analysis of the simulations shows that if there was reduction of robustness, it was not significant and the results were satisfactory.