Low-cost SMC implementation for small mobile robot

The implementation of sliding mode control (SMC) for two DC motors is detailed in this paper. Short discussion on sliding mode control theory is made over the case of DC motor modeled under assumptions of load torque as uncertainty. The remote connection is done using the MSP430F2274 controller facilities and the radio frequency (RF) transceiver C2500. Under these considerations, the main result is a low power control loop very efficient for a wide range of DC motor operating conditions. Test results using sliding mode control are also presented.