Neural State and Disturbance Observer-based Sliding Mode Control of a Unicycle Robot

Abstract

This paper presents the synthesis of a hybrid control applied to a Unicycle Mobile Robot (UMR) based on modified Sliding Mode Control approach (SMC) integrated with Neural State Observer (NSO) and Nonlinear Disturbance Observer (NDO). Furthermore, Lyapunov's direct method is used to ensure the stability of the closed-loop control on the one hand, and the stability of the neural state observer based on the backpropagation algorithm on the other hand. The advantages of the presented hybrid controller for velocity and tracking the trajectory of a mobile robot are revealed by simulation results.