Experimental testing of a discrete‐time sliding mode controller for trajectory tracking of a wheeled mobile robot in the presence of skidding effects

摘要

Abstract This article addresses the trajectory tracking problem for a wheeled mobile base, considering the presence of disturbances that violate the nonholonomic constraint, and using an approximated discrete‐time model for the vehicle. The proposed solution is based on discrete‐time sliding mode control, in order to ensure that the controller is both robust and implementable. The asymptotic boundedness of the discrete‐time tracking errors is theoretically proved, and experimental results are reported, showing the effectiveness of the proposed control law. © 2002 Wiley Periodicals, Inc.