Control of mobile robot for trajectory tracking by sliding mode control technique

In this paper sliding mode controller is presented for the trajectory tracking by wheel mobile robot. Kinematic and dynamic model of mobile robot are derived using Lagrangian formulation. To achieve the desired trajectory tracking an auxiliary velocity controller is proposed based on the available error between the auxiliary velocity and actual velocity of wheel mobile robot. Sliding mode controller is proposed to produce the required torque signal at the wheels of mobile robot. The overall controller is shown to be asymptotically stable using Lyapunov stability theory. The errors of the system are shown to converge to zero. Finally the simulation result are presented to validate the proposed controller.