Adaptive dynamic sliding mode control for mobile robot trajectory tracking with nonholonomic constraints violation

Abstract

In this paper, a robust control approach for the differential drive wheeled mobile robot (DDWMR) motion, subjected to the skid, slip, and violation of the nonholonomic constraints is presented. The proposed kinematic controller “Perfect Velocity Tracking”, laid on the Lyapunov theory, generates the ideal velocity to ensure the asymptotic convergence of the state vector error. Then, based on the previous output, a new adaptive dynamic power rate sliding-mode control approach is introduced to make the overall system asymptotically stable by generating the desired actuator torques. These two controllers are introduced to promote the tracking motion even in the presence of parameter uncertainties and external disturbances. During the simulation work, an accurate kinematic and dynamic modeling of the differential drive Pioneer 3dx, based on the magic formula’s traction forces, is proposed to simulate the real case motion of the DDWMR.