چکیده (انگلیسی):

This paper introduces and discusses a control strategy for
nonholonomic wheeled mobile robots. The models of the robots include the
kinematic and dynamic equations of motion. Trajectory tracking control
problem of parallel wheeled differential drive mobile robot is considered,
where the robot should reach the final position by following a referenced
trajectory for different initial conditions. A motion control strategy for a
mobile robot by only assuming the kinematic model was developed by many
researchers. In the case of high-speed robot motion, the dynamical model is
important. In this study, two stages of the proposed control strategy are
presented. The first one is dealing with the kinematics of the system and
denoted as ‘steering’ controller. The second one, a velocity controller is
developed based on the robust sliding mode control technique. A new design
of the sliding surface is proposed. The switching feedback gain is determined
based on a novel mathematical simple rule, considering the initial state of the
system. Robustness to parameters uncertainties and stability of the controlled
system are achieved. A simulation model of the controlled system is
developed in MATLAB-SIMULINK software. Simulation results show the
performances of the developed controller. In the case of presence of
uncertainties, the results show the superiority of the proposed controller
compared with the computed torque method.