Sliding Mode Interval Controller for the Mobile Robot

The paper deals with the development of a control system for a mobile robot. Synthesis of this control system is performed with the usage of interval methods. Such an approach makes it possible to change the amplitude of voltage for DC drives, which work in sliding mode, during robot motion. One can use this approach to design robust control systems for control of different kind robots, which parameters are exactly not known or can be changed in known ranges. We suggest a multiloop structure for the control system and to split the problem of control mobile robot on several small problems, such as control of the electric drive, form the desired trajectory and defining control signal. Each above-mentioned loop solves its own problem.