Dynamical Sliding Mode Control and Its Applications to Output Tracking of Mobile Robots

摘要

A dynamical sliding mode control approach is proposed for the output tracking of wheeled mobile robots. A reduced dynamic model of mobile robots is developed. Applying diffeomorphism and nonlinear state feedback transformation to the reduced model, the system is then decomposed into two lower dimensional linear and nonlinear subsystems. The design of the dynamical sliding mode controller is also addressed for the output tracking problem of the mobile robot. Numerical simulations show that the proposed strategy can considerably weaken the chattering of sliding mode control systems.