Sliding mode path following control of a 4WS mobile robot
Abstract
This paper presents a method of applying a combination of the sliding mode control (SMC) and target guidance algorithm to control a four-wheel-steering mobile robot (4WS) to follow the trajectory with small curvature, based on visual information captured by a single camera. A mathematic model of four-wheel-steering mobile robot were also used, the proposed controller ensure stability and robustness when operating under uncertainties and disturbances. The process of synthesizing control laws is strictly mathematically guaranteed. Research results are calculated, simulated, and tested on Matlab.
How to Cite This Article
Pham Minh Tan (2024). Sliding mode path following control of a 4WS mobile robot . International Journal of Multidisciplinary Research and Growth Evaluation (IJMRGE), 5(5), 404-414. DOI: https://doi.org/10.54660/IJMRGE.2024.5.5.404-414