SMC-based mobile robot stability control considering both matched and mismatched disturbances regulation and chatter alleviation
In this paper, a SMC based mobile robot controller is designed, which can achieve chatter alleviation, matched and mismatched disturbances regulation and stability at the same time. Specifically, there are four main contributions in this paper. First, new hierarchical sliding surfaces are designed in the paper for mobile robot subject to matched and mismatched disturbances. Second, a robust disturbance observer (DOB) is designed for disturbance estimation. The observer utilizes knowledge about approaching road disturbances to minimize the estimation error. Third, a new control law is design to filter out the chatter in control input. Finally, the evolutions of both yaw angle and lateral position errors are also investigated in the study, and the asymptotic stabilities of the system are proved. Simulation is carried out for mobile robot tracking highly curved roads. Simulation results show that the proposed controller has strong robustness despite the presence of disturbances in both lateral and yaw motion dynamics. Compared with two control schemes which frequently used in literatures, the control input generated by this controller exhibits less control action while maintains satisfactory tracking performance. Our matlab code is publically available from http://pan.baidu.com/s/1mhtWros.