کنترل مود لغزشی تطبیقی ربات متحرک

Sliding mode control isused for a wheeled mobile robot due to the nonlinear dynamics and presence of uncertainty. however, sliding mode control has the chattering problem and difficulty in finding the bounds of uncertainty which degrade the control performance.to improve the performance, this paper presents a novel adaptive sliding mode control for a wheeled mobile robot. the novelties of this paper are to derive a novel state-space model and the use of voltage control strategy in the control design. in addition, motors are included in the control design whereas the electrical dynamics of motors are not considered in the torque-based control approaches. in the proposed design, the bounds of uncertainty are determined adaptively. as a result, the chattering problem is reduced. the proposed approach is based on the lyapunov theory, thereby guarantees the stability of control system. in addition, the particle swarm optimization for finding the optimal design parameters is used. the proposed control approach is free from the model parameters and robust against the external disturbances and unmodeled dynamics. simulation results show the superiority of the adaptive sliding mode over the conventional sliding mode for the control of the mobile robot.