Title: Experimentations on the adaptive sliding mode control for a trajectory tracking applied on a bi-steerable car

Authors: Smain Azzeddine Tchenderli-Braham; Faiza Hamerlain; Nadia Saadia

Addresses: Division of Industrial Engineering and Robotics, Centre for Development of Advanced Technologies, CDTA, Cité du 20 Août 1956 Baba Hassen, B.P.17 16303, Algiers, Algeria ' Division of Industrial Engineering and Robotics, Centre for Development of Advanced Technologies, CDTA, Cité du 20 Août 1956 Baba Hassen, B.P.17 16303, Algiers, Algeria ' University of Sciences and Technologies Houari Boumediene, USTHB, USTHB, El Alia, Bab Ezzouar, BP 32, 16111, Algiers, Algeria

Abstract: Chattering is known as the most important drawback of sliding mode control (SMC). The latter is robust against external perturbations and model incertitude. The objective of this paper is to provide adaptive SMC laws allowing control of a complex system while avoiding or reducing chatter effects. The controlled system is called Robucar, it is a four wheel mobile robot car in double steering mode also called a bi-steerable car (Bis-Car). It is a non-holonomic, non-linear and under-actuated system. A robust adaptive SMC law is designed to reduce the chatter effect while keeping the robustness properties. The robustness and the applicability of the control laws are shown in simulation tests first, and then in experimental tests where perturbations are considered by introducing errors on the initial position, the traction velocity and the steering angle.

Keywords: Bis-Car; bi-steerable vehicles; adaptive control; sliding mode control; SMC; trajectory tracking; wheeled robots; mobile robots; chatter effects; robot control; non-holonomic systems; under-actuated systems; nonlinear systems; simulation; traction velocity; steering angle.

DOI: 10.1504/IJVD.2015.073127

International Journal of Vehicle Design, 2015 Vol.69 No.1/2/3/4, pp.285 - 303

Received: 14 Nov 2014
Accepted: 11 Jun 2015

Published online: 20 Nov 2015 *

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