RESEARCH AND DESIGN CONTROLLER FOR MOBILE ROBOT ON THE BASIS OF SLIDING MODE CONTROL METHOD

Abstract

This paper presents a research method to design a controller for the drive system of a omnidirectional mobile robot in an unknown flat environment, based on the sliding control method, taking into account nonlinear factors (slip of the wheel). This problem helps the mobile robot to ensure stability in both the forward and backward movements of the robot. Moreover, the process of the robot must overcome obstacles on the way, so that the robot still works stably without encountering any obstacles, until it reaches the destination safely. The simulation results are performed in the Matlab Simulink environment to demonstrate the correctness of the proposed algorithm. Moreover, these research results will be the basis for the establishment of control algorithms, electric drive system design for mobile robots in industry, in the medical field and in transportation.