Discrete-time sliding-mode control of four driving-steering wheels autonomous vehicle

A discrete-time sliding-mode control for the trajectory tracking problem of four driving-steering wheels (4DW/SW) autonomous vehicle SEEKUR is presented in this paper. SEEKUR is a holonomic, all-wether, outdoor robot platform for outdoor security, inspection and research. SEEKUR´s unique shape and omni-directional steering allow truly holonomic movement. A discrete-time nonholonomic model of SEEKUR is used for the design of the controller, instead of the usual continuous-time model, thus avoiding problems caused by the discretization of the continuous-time controller. The effectiveness of the proposed controller is proven by simulation results.