Singularity Free Stabilizing Controller for Non-Holonomic Mobile Robot Using Novel Sliding Manifold

Abstract

This work proposes a singularity free stabilizing controller for a non-holonomic mobile robot. The control objective is to force the system states from any initial position to the origin in finite time. In the first step the state transformation has been done on the kinematic and dynamic model of the mobile robot. After transformation the kinematic and dynamic model has been converted to non-holonomic integrator and non-holonomic double integrator respectively. Further a novel sliding surface has been proposed in the paper which stabilizes both non-holonomic integrators in finite time. Kinematic stabilization has been done using power rate reaching law of sliding mode controller (SMC) and dynamic stabilization of mobile robot has been done using relay free SMC technique. Stability analysis of the proposed kinematic and dynamic controller has been given using Lyapunov stability theory. Simulations studies are performed, and it is shown that the proposed controller is better than the existing state of the art.