SLIDING MODE CONTROL OF NONHOLONOMIC UNCERTAIN PERTURBED WHEELED MOBILE ROBOT

Amani Ayeb∗ and Abderrazak Chatti∗

Keywords

Nonholonomic mobile robot, Lyaponuv function, terminal slidingmode control, external disturbances, RBF network

Abstract

This current work concentrates on an adaptive fast terminal sliding mode control (SMC) based on radial basis function (RBF) of a nonholonomic mobile robot, which is able to navigate to a target location in the presence of unmodelled dynamics model, nonparametric uncertainties, and exogenous disturbances. For a lot of researchers, the trajectory-tracking control for a wheeled mobile robot was designed only assuming the kinematic model. Neglecting the robot dynamics has a meaning result on the robot command performance in the real world. The control designed is based on the dynamic model given in terms of Euler–Lagrange. Through combining this model with the kinematic constraints, the relationship between the torques and the motion of wheeled platform is made understandable. The condition of convergence and the stability analysis are validated by the Lyapunov criterion. The approach is to privilege control laws leading to a convergence in finite time and having properties of robustness. This paper obtains the fast time convergence of the tracking errors to zero and higher precision compared with the conventional SMC. In fact, chattering is avoided using a fast terminal sliding mode, both in the sliding mode and the reaching phase. Moreover, the parameters combined with the reaching law, sliding surface, the unmodelled dynamics, the external disturbances, and uncertainties are designed to be adjusted using the RBF network. Simulations in MATLAB–SIMULINK are presented to show the performance of the proposed control law compared with the classical SMC method in the presence of uncertainties, friction force, and exogenous disturbances.

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