Robust stabilization of a mobile robot violating the nonholonomic constraint via quasi-sliding modes

The stabilization problem for a wheeled mobile base has been addressed, considering the presence of disturbances violating the nonholonomic constraint. The proposed solution is based on discrete time sliding mode control, in order to ensure both robustness and implementability. The controller is shown to drive the robot to a bounded neighborhood of the origin. Simulation results have been reported, demonstrating the effectiveness of the proposed control law.