A comparative study of PID and SMC controller for nonlinear unmanned ground all terrain vehicle

Abstract

An unmanned ground all terrain vehicle (UGATV) can moves across the any surface of the ground (terrain) without intervention of human. It is autonomous in nature and it should be capable of operating over a wide variety of terrain, operating conditions. Hence selection of appropriate controller is require. In this paper, PID and SMC controller for UGATV is designed and is implemented in MATLAB environment. Thereafter performance of UGATV with PID controller and UGATV with SMC is compared for different disturbances such as sudden break (obstacle), change in mass of UGATV, change of slope of road (terrain). These controllers are designed using linearized transfer function then applied to nonlinear model of UGATV. Simulation results are generated for various transient conditions and disturbance levels.