Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control

摘要

This paper presents design and implementation of adaptive Second Order Sliding Mode Control (SOSMC) for a four wheels Skid-Steered Mobile Robot (SSMR). The control objective is to follow a predefined trajectory by regulating the linear and angular velocities, and in presence of external disturbance and parametric uncertainty. Adaptive Super Twisting (AST) algorithm is designed in order to build a robust controller with neglected chattering in steady state. The proposed controller is validated experimentally. The results show that the proposed controller guarantees the performance of the conventional SOSMC under external disturbance and parametric uncertainty with less chattering.