Robust trajectory tracking control based on sliding mode of Differential Driving Four-Wheeled Mobile Robot

Abstract

In this paper, a robust trajectory tracking controller of Differential Driving Four-Wheeled Mobile Robot (DDF-WMR) is proposed. This controller based on the kinematic and dynamic model of the DDF-WMR as well as that of the actuators, consists of making the robot, from the initial conditions, to a reference trajectory. the proposed algorithm, based on the sliding-mode control strategy, ensures robustness of the robot against of bounded disturbances and uncertainty of model parameters. The stability of this controller is studied using the Lyapunov theory. To show the performances of the proposed algorithm, simulations are done in the Matlab / simulink environment.