Tracking controller for uncertain wheel mobile robot: adaptive sliding mode control approach

Sen Huong Thi Pham, Cuong Duc Nguyen, Khanh Dang Giap, Nga Thi-Thuy Vu


This paper presents a technique for developing a sliding mode controller (SMC) using the state model of wheel mobile robot (WMR). The control scheme which consists of a controller and a disturbances observer can eliminate system uncertainties, disturbances, and unknown wheel slips. To successfully implement the sliding mode tracking controller algorithm, first, the transformation is utilized to convert the kinematic and dynamic models to an equation of state, and then create a controller based on Lyapunov function. Subsequently, a disturbance observer is formulated based on a stable sliding surface, followed by the development of an adaptive sliding mode control (ASMC) for the system. Moreover, to verify the efficacy of the given strategy, simulations have been performed under the aforementioned disturbance conditions. Finally, the simulation results show that chattering effect is eliminated, and the impact of disturbances is also diminished, thus proving the viability and correctness of the proposed control algorithm.


Adaptive; Disturbance; Sliding mode tracking controller; Wheel mobile robot; Wheel slips

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Bulletin of EEI Stats

Bulletin of Electrical Engineering and Informatics (BEEI)
ISSN: 2089-3191, e-ISSN: 2302-9285
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).