Adaptive sliding mode for the control of a wheeled mobile robot

Abstract

This work deals with the trajectory tracking control problem for a kind of underactuated wheeled mobile robots: car with a double steering mode (Bis-Car). The control law is designed using an adaptive sliding mode control (ASMC) in order to achieve a robust control while avoiding the chatter effect engendered by sliding modes and the overestimation of the control gain. Among existing methods of ASMC, we use in this paper the equivalent control based adaptive gain method. Simulation results show the effectiveness of this method applied on a complex system.