Discrete-Time Sliding Mode Control of a Nonholonomic Mobile Robot

Abstract he point stabilization and the tracking trajectory problems for a nonholonomic mobile robot are solved using discrete time sliding mode control. A simple discrete time model of the vehicle has been used, and the asymptotical convergence of the controlled variables has been theoretically proved. The proposed algorithms have been tested by simulation on the continuous time model of the robot, showing satisfactory performances. The simulation study reported in this note is preliminary to the experimental testing of the control algorithm, which is being carried out on a LABMATE vehicle at the Robotics Lab at the Dipartimento di Elettronica ed Automatica of Ancina University.