Stabilization of a unicycle-type mobile robot using higher order sliding mode control

摘要

This paper deals with the problem of the practical stabilization of a unicycle-type mobile robot. The control strategy is divided into three steps and switches between different sliding mode controllers: a new third order sliding mode control with smooth manifolds that provides a practical stabilization and other sliding mode controls that perform finite time convergence (first order sliding mode and twisting algorithm). A simulation illustrates the results on the studied mobile robot.