Robust Discrete-Time Adaptive Sliding Mode WMR Trajectory Tracking and Parameter Identification

Abstract

In this paper a discrete-time adaptive sliding mode controller for three wheels mobile robot (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mode controller has designed on two components, corresponding to angular and linear displacement, respectively. In order to accomplish the robustness against parameter uncertainties an on-line closed loop identification scheme is proposed. To the both of them, angular and linear displacement controllers, parameter estimates depending of the robots mass, on-line updated, are used.