CHATTERING FREE SLIDING MODE TRACKING CONTROLLER FOR WHEEL MOBILE ROBOT WITH UNKNOWN DISTURBANCES AND WHEEL SLIPS

Abstract

The article presents a control designing method that estimates disturbances based on the state of autonomous wheel mobile robot. Uncertainties, wheel slips and external disturbances of the system are eliminated through the controller combined with disturbance estimation. Transfering kinematic model to state space model that be able to apply sliding control simply and efficiently. The controller design ensures Lyapunov stability and simulation results ellustrate the high quality of tracking control, disappearing of chattering phenomena and disturbances