Second order sliding mode controller for space rovers

This paper proposes a second order sliding mode (SOSM) controller for space rovers. The space rovers are operated in hostile and remote environment which can degrade its performance. The unknown disturbances are controlled by using a robust controller. The properties of SOSM make it the superior choice over other controllers. The aim of this paper is to design a SOSM controller for two wheel non-holonomic rover. The rover controller is designed to follow the reference trajectories. The simulation result shows the effectiveness of the proposed controller and the Stability is proved through the use of a Lyapunov function.