Design of a Robust Controller for an Unmanned Vehicle Based on Sliding Mode Theory

In this paper, a sliding mode method is used to control an unmanned vehicle. The kinematics of simple bicycles is considered to control the system. Due to the nonlinear dynamics of the problem, the sliding mode method is used and the control system is designed to robust cross-sectional and continuous path perturbations. The control vector is designed for two subsystems simultaneously and computer simulations have been performed to evaluate the performance of the control system in two modes in the presence of cross-sectional and continuous path disturbances. In case of cross-sectional disturbances, it is shown that the position and angle of the vehicle follow the desired values with high accuracy. This issue is also reflected in the occurrence of continuous disturbances. The simulation results show the appropriate and acceptable performance of the control system.