Abstract
The purpose of this paper is to design a control system for a mobile four-wheeled robot, whose task is to achieve stability and proper operation in the execution of commands. As a result of the nonlinear dynamics, structural and parametric uncertainty of this robot, various control approaches are used in order to achieve stability, proper performance, minimize modeling errors and uncertainties, etc. By adjusting linear and angular velocities in the presence of external disturbances and parametric uncertainty, this algorithm is able to follow a predetermined trajectory based on the information contained in the signals received by the sensor from the trajectory.. In previous articles, the upper bound of uncertainty was assumed to be known. This paper makes the assumption that the upper band of uncertainty and disturbances in robotic systems is unknown, since, in many cases, we cannot know the extent of these uncertainties in practice. In our recent paper, we generalized the sliding mode control law and proved its effectiveness, so that by including an adaptive part to the control law, we transformed it into a robust-adaptive sliding mode control, and we could estimate the upper band uncertainties online based on these adaptive laws. This typology can be expressed as a distinct theorem with stable results. Simulations with MATLAB software demonstrate that the controller ensures optimal performance under external disturbances and parametric uncertainty with less fluctuations.
Trajectory tracking of a mobile robot using adaptive sliding mode control
