Sliding-mode real-time mobile platform control in the presence of uncertainties

In this paper, a new sliding-mode trajectory-tracking wheeled mobile robots (WMR) control is proposed. Dynamic model with uncertainties parameters (unknown or time varying mass and moment of inertia) of the WMR is taken into account. Robust stability depending on upper bound uncertainties, is guaranteed. A mobile platform, PatrolBot, with two driving wheels and two rear wheels is used in order to check proposed sliding-mode control. Closed-loop real-time control results are supplied. Good trajectory-tracking performances (small position and orientation errors) in the presence of external disturbances are obtained.