Robust tracking control of mobile robots in the presence of uncertainties in the dynamical model

In this article, the robust trajectory tracking problem for the dynamical model of a wheeled mobile robot has been solved using sliding mode control. The presence of bounded uncertainties (parameter variations and input disturbances) has been considered. The control policy makes use of two nonlinear sliding surfaces, able to ensure the robust asymptotic vanishing of the three tracking errors. The control law has been tested by simulation. The reported results show the effectiveness of the proposed control law. (C) 2001 John Wiley & Sons, Inc.