Nonlinear control synthesis for parking control of mixed conventional/braking actuation mobile robots

Abstract

In this paper a nonlinear control synthesis for a mixed conventional/braking actuation mobile robot (MAMR) is presented. The MAMR is thought to be one of the possible solutions to tackle the common drawbacks of conventional mobile robots such as complexity, weight, and cost. This paper proposes a sliding mode control approach to control the parking of the MAMR along the x axis from any initial position and orientation. The dynamics of the MAMR are studied for later use in controller design. Different controllers are designed for different parts of the switching surfaces based on the dynamics of that particular region and the stability proof of each controller is given. The effectiveness of the proposed control algorithm is tested by simulation.