Stochastic optimization of a chain sliding mode controller for the mobile robot maneuvering

In this study we present a chain sliding mode controller for the control of a four wheeled autonomous mobile robot performing aggressive turning maneuver to 90 degrees on a slippery surface. The controller consists of a set of local sliding mode controllers and the hyperplanes of switching between them. The parameters of the sliding mode controllers and the hyperplanes are obtained using methods of multiobjective stochastic optimization applied to a model of the robot. The obtained controller is used to drive the mobile robot. The results show that the controller allowed the robot to execute the aggressive maneuver. Moreover, the turn radius obtained with the controller was twice less than the minimal turn radius admitted by the robot´s geometry and the steering system.