Sliding mode control of nonlinear unmanned ground all terrain vehicle

An unmanned ground all terrain vehicle (UGATV) is mechanized equipment that moves across the any surface of the ground (terrain) without intervention of human. It is autonomous in nature and it should be capable of operating over a wide variety of terrain, operating conditions. Hence robust and precise control of UGATV is basic requirement while designing. In this paper, nonlinear mathematical model of UGATV for straight and turning motion is presented and is implemented in MATLAB environment with various subsystems. Thereafter transfer function model of UGATV is obtained by linearizing. Using this linearized transfer function model, Constant rate reaching law (CRRL) Sliding mode controller, Constant rate plus Propositional rate reaching Law (CRPRRL) Sliding mode controller (Exponential reaching law), Power rate reaching Law (PRRL) Sliding mode controller are designed and applied to nonlinear model of UGATV. Simulation results are generated for various transient conditions and disturbance levels.