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Robust Adaptive Trajectory Tracking Control Based on Sliding Mode of Electrical Wheeled Mobile Robot

B. Moudoud 1, H. Aissaoui 1, and M. Diany 2
1. Sustainable Development Laboratory, Faculty of Sciences and Technologies, Sultan Moulay Slimane University, Beni Mellal, Morocco
2. Industrial Engineering Laboratory, Faculty of Sciences and Technologies, Sultan Moulay Slimane University, Beni Mellal, Morocco

Abstract—In this paper, a robust adaptive trajectory tracking controller is proposed for an electrical wheeled mobile robot in the presence of dynamic disturbances. This method, based on the nonlinear dynamic model of the robot and its actuators, guarantees the stability and the convergence of the closed-loop system. Moreover, the developed controller ensures the robustness of the system against the bounded dynamic disturbances, the smoothness of the computing voltage against the chattering phenomenon, and the optimal convergence of the velocity and posture errors. The Lyapunov theory is used to analyze the full stability of the control scheme. The simulation results further illustrate the effectiveness of the developed strategy.

Index Terms— adaptive sliding mode controller, dynamic disturbances, computing voltage, electrical wheeled mobile robot, Lyapunov theory

Cite: B. Moudoud, H. Aissaoui, and M. Diany, "Robust Adaptive Trajectory Tracking Control Based on Sliding Mode of Electrical Wheeled Mobile Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 9, pp. 505-509, September 2021. DOI: 10.18178/ijmerr.10.9.505-509

Copyright © 2021 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.

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