Dynamic tracking control of mobile robot using exponential sliding mode

Abstract

This paper proposes an exponential sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots. A new solution to the problem of chattering in variable structure control is presented. Exponential sliding mode is defined to reduce chattering and keep high dynamic tracking performance in steady state mode for mobile robot. This algorithm instructs the robot to keep move on the desired path while reduce tracking errors. The simulation results obtained with unicycle mobile robot is presented to demonstrate the performance of exponential sliding mode controller algorithm compare to conventional sliding mode.