PROPORTIONAL INTEGRAL DERIVATIVE SLIDING MODE CONTROL FOR AN OMNI-DIRECTIONAL MOBILE ROBOT

Abstract

A proportional integral derivative sliding mode control (PID-SMC) for an Omni-directional mobile robot is designed and evaluated in this article. This is one type of mobile robot that is the most widely used in industrial automation systems with many advantages, such as flexibility in movement patterns, have the ability to move freely in both directions. The PID-SMC is designed to ensure the robot’s actual trajectory tracks to the reference in a finite time and reduces the chattering phenomenon around the sliding surface. The stability of the system is proved using the Lyapunov stability theory. Simulation results in MATLAB/Simulink show the effectiveness of the proposed controller with the overshoot, the rising time, the settling time of x_w is 1.963(%), 0.045±0.001(s), 0.28(s) and y_w is 0.505(%), 0.160±0.001(s), 0.231(s), the steady state error converges to zero and the chattering is reduced.