Sliding Mode Control for Nonholonomic Mobile Robot

摘要

Abstract A new control scheme is presented for nonholonomic mobile robots. The main idea of this paper is to consider the natural algebraic structure of the chained form system together with ideas from sliding mode theory while designing the control law. At first, the system model is converted into a single-input time-varying linear system by setting one input as a time-varying function. We design the sliding mode control law by using pole placement based on pseudo-linearized model. The point stabilization and path-tracking problem for chained form are studied based on these ideas. Simulations for both unicycle car and car like robot showed this control algorithm can make the mobile robot stabilized at desired configuration and following the desired trajectory with a high precision.