Adaptive Sliding Mode Control for an Unmanned Mini Vehicle

In this paper, an adaptive sliding mode controller with PID tuning method is presented for an unmanned mini vehicle. Moreover, in order to achieve system robustness against parameter variations and external disturbances, suitable PID control gain parameters can be systematically on-line computed based on the proposed adaptive law. The boundary layer condition is adopted to reduce the high frequency chattering in the switching part of the sliding mode controller. The asymptotic stability property can be guaranteed according to the Lyapunov stability theorem. Numerical simulation results illustrate that satisfactory trajectory tracking performance is achieved effectively and the input chattering is attenuated dramatically.