Trajectory tracking control of a two-wheeled mobile robot using sliding mode techniques

Abstract

This paper presents a trajectory tracking control scheme for a two-wheeled mobile robot using sliding mode techniques. The stability of the designed sliding mode dynamics is analysed and reachability of the sliding mode is guaranteed in a given region with the proposed controller. A simple robot system including a micro-controller, the Arduino Due based on the ARM Cortex-M3, is used to implement the proposed control algorithm. Two DC motors controlled by PWM signals are used as actuators to implement the proposed feedback control. Simulation results are presented and compared with the results of practical experiments. These results show that good tracking performance is achieved even in the presence of uncertainties and disturbances. The robustness of the proposed scheme is thus verified in practice.