Adaptive sliding-mode dynamic controller for nonholonomic mobile robots

摘要

This paper presents a proposed adaptive technique for nonholonomic wheeled mobile robot (NWMR) using the sliding-mode control (SMC) method. The proposed control system based on the backstepping kinematic controller and PI sliding mode dynamic control. With an adaptive fuzzy logic to adjust adaptation gain of SMC for trajectory tracking control of nonholonomic mobile robot. Parametric and nonparametric uncertainties of mobile robot can be solved by using the proposed control which take advantages of stability and robustness in sliding mode control. The adaptation gain of SMC is adjusted by using Mamdani type inference system with adaptive tuning algorithm, which improves the adaptability for uncertainness and eliminate input chattering of the SMC. The stability and convergence of the control system are proved using Lypanouve criteria, and the comparison of the proposed controller with the other controllers ensures the validity and superiority of my own controller