Adaptive sliding mode controller applied on an underactuated wheeled mobile robot

In this paper we address the problem of a chatter attenuation caused by sliding mode controllers. For this purpose, an adaptive method is investigated in order to tune the gain of the sliding algorithm. The control method is designed for a four wheeled mobile robot in double steering mode (Bis-Car) in the case of a trajectory tracking task. Simulation results show the effectiveness of the proposed method.