Sliding Mode Control for Trajectory Tracking Problem - Performance Evaluation

摘要

The trajectory tracking control problem for the wheeled mobile robot is solved using the sliding mode control. The wheeled mobile robot is a nonlinear system. In this paper four control laws are modeled and the system performances are investigated. The sliding mode control laws for the trajectory tracking problem are simulated and then implemented on the PatrolBot Robot. The performances are analyzed in order to establish some rules. The analysis conclusions are based on the simulation results and on the real time implementation of the control laws on the PatrolBot Robot.