Super twisting sliding mode controller applied to a nonholonomic mobile robot

Abstract

In this paper, a new approach of the super twisting sliding mode control of nonholonomic mobile robot system is proposed. Computer simulations and real time implementations are performed on a real mobile robot (Pioneer-3DX) with parameter uncertainties and external disturbances. The simulation results and real experiments have shown the improved performance of the proposed controller in terms of a decrease in the reaching and settling times and robustness to disturbances as compared to the conventional sliding mode controller. Moreover, the proposed sliding-mode controller is very simple and easy to implement in real nonholonomic mobile robot.