Robust Dynamical Sliding Mode Control of a Class of Nonholonomic Systems

The output tracking control problem of a class of nonholonomic systems with unmodelled dynamics and external disturbance in the generalized coordinate space is studied. A robust dynamical sliding mode controller is devised to achieve output tracking of the nonholonomic systems. The reduced dynamic model is developed for nonholonomic systems. The system is then decomposed into lower dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of the robust dynamical sliding mode controller is also addressed for the output tracking of the nonholonomic systems. The results of numerical simulation verify that the robust dynamical sliding mode controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems