Robust motion control for nonholonomic constrained mechanical systems: sliding mode approach

This paper addresses the robust trajectory tracking problem for a general class of nonholonomic systems with velocity constraints in the presence of uncertainties. The development of the proposed algorithm is based on sliding mode control technique. First, for the purpose of designing controllers, the conservative upper-bounded function of dynamics model of nonholonomic systems is derived based on the dynamics structure properties. Then, a sliding mode control scheme is presented to guarantee trajectory tracking of closed-loop system. The asymptotical or exponential stability is obtained in the Lyapunov sense. Finally, simulation examples are given to demonstrate the proposed approach.