EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT

This paper addresses the trajectory tracking problem of a nonholonomic mobile robot. More precisely, we are interested in solving the problem of tracking a reference trajectory in presence of disturbances. A control strategy based on the Integral Sliding Mode is proposed combined with a state feedback linearization. While many studies have considered the kinematic model of the vehicle only, we have used both kinematic and dynamic models. The distinctive property of the proposed controller is its robustness of performance in the presence of uncertainties. To assess the quality of the proposed approach, we performed in addition to simulations the implementation of this controller on the robot Koala, a two-wheel differentially driven mobile robot. Lab work illustrates the real quality and efficiency of this control strategy.