Chattering reduction on the dynamic tracking control of a nonholonomic mobile robot using exponential sliding mode

摘要

This paper considers the problem of improving chattering reduction and trajectory tracking along a desired trajectory for a mobile robot. It is proposed that exponential sliding mode control is an effective solution to reduce chattering for the trajectory tracking of a nonholonomic mobile robot. Compared to conventional and second-order sliding modes, the developed sliding mode control reduces chattering and delivers a high dynamic tracking performance in a steady state mode. The developed algorithm instructs the robot to keep moving continuously on the desired trajectory while reducing tracking errors. Experimental results on a wheeled mobile robot are presented to demonstrate the performance of the exponential sliding mode controller algorithm compared to both conventional and second-order sliding mode algorithms.