Discrete-Time Sliding Mode Control Design for Unicycle Robot With Bounded Inputs

Abstract

This brief focuses on the stabilization of a unicycle mobile robot subject to actuator saturation. A discrete-time sliding mode (DSM) controller is designed based on equivalent control approach, for the multirate sampled equivalent model of the chained form of unicycle mobile robot. The sliding variables are so chosen as to guarantee the convergence of the system states to the origin in finite time. The adopted equivalent control approach in conjunction with the choice of the sliding variables guarantees finite-time stabilization of the unicycle robot, in the presence of saturating control inputs. A characterization of the domain of attraction (DOA) is also provided in terms of the convergence parameters. The efficacy of the proposed design is validated through simulations.