Trajectory tracking for skid-steering mobile robots using sliding-mode control

Abstract

In this paper, we tackle the problem of trajectory tracking for Skid-Steering mobile robots. Two strategies of kinematic modeling of the Skid-Steering mobile robot are considered. The controllers are designed based on Sliding Mode scheme to asymptotically stabilize the tracking errors in surge, sway and heading for different reference trajectories. The study on circular trajectory and on a straight line shows that the tracking is achieved even with large initial tracking errors and bounded disturbances. Comparison between the two strategies is presented based on the performance and of the efficiency of the tracking.