On the sliding mode control of wheeled mobile robots

Abstract

In this article a robust multivariable sliding mode controller solution is proposed for the tracking problems associated to well known types of mobile robots. Differential flatness of the underlying nonlinear kinematics and dynamics of the robot is suitably exploited for the multivariable sliding controller synthesis tasks. Natural control input smoothing is shown to be provided by the sought decoupled nature of the closed loop system through dynamic compensation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>