Integral sliding mode control for trajectory tracking of a unicycle type mobile robot
Résumé
This paper deals with the tracking control for nonholonomic mobile robots in the presence of matched and unmatched perturbations. The controller synthesis is based on the differential flatness property and integral sliding mode control. The wheel actuators dynamics are taken into account. It is shown that the proposed scheme provides satisfactory performances and is robust to bounded external disturbances. Simulations illustrate the results on a unicycle type mobile robot.