Backstepping second order sliding mode control for a car-like robot

摘要

Over the last decade, the research in autonomous robots has increased the development of mechanisms, navigation, and control schemes. Robots constitute capabilities for doing specific human tasks depending on the mechanism and environment involved. For mobile robots, diverse techniques formulated navigation and control algorithms, some of them have applied sliding modes and other modern robust control techniques. Actually, most control algorithms based their development in the kinematic model. This aims to control a car-like robot mobile robot, with a backstepping strategy. At each step of the bacstepping procedure a second order super-twistng sliding mode algorithm force the states of the kinematic error, after a nonlinear transformation, to zero in finite-time. The proposed controller improves the tracking trajectory task. Numerical results demonstrate the effectiveness of the algorithm. A comparison with a classical proportional-integral-derivative controller enhances the advantages of applying a sliding mode strategy.