Trajectory tracking control of a car-like mobile robot in presence of sliding

This paper investigates the trajectory tracking control problem of a nonholonomic car-like mobile robot in the presence of sliding effects. Sliding (slipping and skidding) effects are treated as disturbances and introduced into the kinematic model of the car-like using the singular perturbation approach. In order to compensate for the effects of tire slipping and skidding, a robust second order sliding mode controller is developed based on the super twisting algorithm. It is theoretically proven that for car-like vehicle subjected to sliding, the lateral-longitudinal deviations and the orientation errors can be stabilized near the origin. Simulations results show the effectiveness and the robustness of the proposed controller with respect to the sliding effects.