Sliding Mode Control for Trajectory Tracking of a Non-holonomic Mobile Robot using Adaptive Neural Networks

In this work a sliding mode control method for a nonholonomic mobile robot using adaptive neural network is proposed. Due to this property and restricted mobility, the trajectory tracking of this system has been one of the research topics for the last ten years. The proposed control structure combines a feedback linearization model, based on a kinematics nominal model, and a practical design that combines an indirect neural adaptation technique with sliding mode control to compensate the dynamics of the robot. A neural sliding mode controller is used to approximate the equivalent control in the neighborhood of the sliding manifold, using an online adaptation scheme. A sliding control is appended to ensure that the neural sliding mode control can achieve a stable closed-loop system for the trajectory-tracking control of a mobile robot with unknown nonlinear dynamics. Also, the proposed control technique can reduce the steady-state error using the online adaptive neural network with sliding mode control; the design is based on Lyapunov's theory. Experimental results show that the proposed method is effective in controlling mobile robots with dynamics large uncertainties.