Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots

Hongmin CHAO  Chi Kwong LI  Ahmad Besharati RAD  Yue Ming HU  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E85-A   No.9   pp.2169-2174
Publication Date: 2002/09/01
Online ISSN: 
Print ISSN: 0916-8508
Type of Manuscript: LETTER
Category: Systems and Control
nonholonomic mobile robots,  high-order sliding mode control,  output tracking,  

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This paper addresses a high-order sliding mode control strategy for output tracking of nonholonomic mobile robots. First, we introduce the dynamic model of robots, driving motors and nonslipping kinematics constraint conditions. Second, we decompose the system into linear and nonlinear components via diffeomorphism and nonlinear input transformation. Also we consider parameter variations of robots and deduce the uncertain model of robots. Third, we design a high order sliding mode controller for output tracking of known and uncertain systems, respectively. Finally, we perform numerical simulations, demonstrating that the proposed high-order sliding mode control not only reduces the chattering problem of sliding mode systems, but also has certain robustness properties with respect to uncertainties of robots.