Adaptive sliding-mode control of nonholonomic wheeled mobile robot

This paper designs an adaptive sliding mode dynamic controller for the trajectory tracking of wheeled mobile robot. First, a kinematic controller is introduced for the wheeled mobile robot. Then, the adaptive sliding mode dynamic controller (ASMDC) is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, in presence of system uncertainties and disturbances. The convergence of the complete equations of motion of wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed controller.