Sliding mode control of a nonholonomic wheeled mobile robot for trajectory tracking

Abstract

We propose a tracking control of a nonholonomic wheeled mobile robot using variable structure systems. The posture of the mobile robot is represented by polar coordinates and a sliding mode control algorithm is presented for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to system perturbations and measurement errors. Simulation and experimental results confirm the validity of accurate tracking capability and the robust performance of the proposed scheme.