STABILIZING CONTROL ALGORITHM FOR NONHOLONOMIC WHEELED MOBILE ROBOTS USING ADAPTIVE INTEGRAL SLIDING MODE

Waseem Abbasi, Fazal ur Rehman, Ibrahim Shah, and Arshad Rauf

Keywords

Nonholonomic systems, wheeled mobile robots, adaptive integral sliding mode control, lyapunov

Abstract

This article presents a new control design strategy for the stabilization of nonholonomic wheeled mobile robots. Designing high-performance control laws for nonholonomic wheeled mobile robots is a challenging task due to the nonholonomic nature of these systems. The present work addresses this challenging control design problem using an adaptive integral sliding mode based technique. To apply the design technique, first, the system is transformed into special structure containing a nominal part and unknown part through input transformation. The transformed system is stabilized using adaptive integral sliding mode control. The stabilizing controller for the transformed system consists of the nominal control plus a compensator control. The derivation of compensator controller and the adaptive laws for the unknown terms are based on Lyapunov stability theory. The proposed control methodology is applied to stabilization of nonholonomic wheeled mobile robots of type (1,1) and of type (1,1) with trailer. Numerical simulation shows the effectiveness of the proposed control design methodology.

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