Discrete-time sliding mode controllers for nonholonomic mobile robots trajectory tracking problem

This paper discusses two proposed robust controllers to solve the trajectory tracking problem of nonholonomic wheeled mobile robots. The complete model of this can be divided into robot kinematics and robot dynamics. To take advantage from this fact, two combined controllers are design, which are based on Discrete Super Twisting Algorithm to kinematics and Discrete-time Neural Block Control and Discrete High Order Sliding Modes to dynamics including actuators dynamics, without the previous knowledged of the plant model or its parameters. The performance analizes are performed and also simulations are included to show the effectiveness of both proposed controllers.