Robust controller for trajectory tracking of a Mobile Robot

摘要

Mobile Robots are robots that can move from one place to another autonomously, ie. without external human assistance. Proper control methods are to be used for autonomously controlling the motion of these robots. As these robots are to be utilized in real-world situations, the controller used should be promising and robust in nature. In this paper, the tracking control of a Non-holonomous Differential Drive Wheeled Mobile Robot using robust Sliding Mode Control is presented. The model of the mobile robot, QBot 2, by Quanser, is utilized for checking the validity of the controller.