Title: Nonlinear sliding mode control of a two-wheeled mobile robot system

Authors: Jianqiu Mu; Xing-Gang Yan; Sarah K. Spurgeon; Zehui Mao

Addresses: School of Engineering and Digital Arts, University of Kent, Canterbury, Kent CT2 7NT, UK ' School of Engineering and Digital Arts, University of Kent, Canterbury, Kent CT2 7NT, UK ' School of Engineering and Digital Arts, University of Kent, Canterbury, Kent CT2 7NT, UK ' College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

Abstract: This paper presents a trajectory tracking control scheme for a two-wheeled mobile robot using sliding mode techniques. The stability of the designed sliding mode dynamics is analysed and reachability of the sliding mode is guaranteed in a given region with the proposed controller. A robot system including a micro-controller, the Arduino Due based on the ARM Cortex-M3, is used to implement the proposed control algorithm. Two DC motors controlled by PWM signals are used as actuators to implement the proposed feedback control. Simulation results are presented and compared with the results of practical experiments.

Keywords: sliding mode control; trajectory tracking; non-holonomic systems; mobile robots; nonlinear SMC; two-wheeled robots; wheeled robots; robot control; microcontrollers; DC motors; PWM signals; pulse width modulation; actuators; feedback control; simulation.

DOI: 10.1504/IJMIC.2017.082943

International Journal of Modelling, Identification and Control, 2017 Vol.27 No.2, pp.75 - 83

Received: 28 Nov 2015
Accepted: 01 Feb 2016
Published online: 16 Mar 2017 *

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