Application and test of sliding mode control for indoor vehicles

In these days, tracking control for vehicles with nonlinear dynamics is intensively studied. Especially when vehicles run at low speed, exact linearization based on time-state controller form realizes exponential convergence to the reference trajectory. When a vehicle corners a curve at high speed, however, tracking error due to sideslip angle of tires appears. To recover the exponential convergence and to compensate for the uncertainty of tire force, a sliding mode control for active front steering vehicle has been proposed by one of the author. In this study, that method is applied to a RC model car to explore the possibilities of indoor type high speed mobile robots.