Adaptive Sliding Mode Control of Wheeled Mobile Robot with Nonlinear Model and Uncertainties

Abstract

The tracking control of wheeled mobile robot is a complex problem that is encountered in robotic science. In real applications, many serious difficulties affect the control of the robot. Nonlinear model, parameters uncertainties, and external disturbances limit the study of mobile robot tracking control. To reduce the mobile robot tracking error, we propose an adaptive law based on sliding mode control applied to a nonlinear model and taking into account uncertainties. Using the Lyapunov theory, the stability and the convergence of the tracking errors are proved. Simulations are used to illustrate the efficiency of the proposed controller.