|Robust-flatness Controller Design for a Differentially Driven Wheeled Mobile Robot
Mabrouk Boubezoula*, Abdelouhab Hassam, and Oussama Boutalbi
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1895-1904, 2018
Abstract : "This paper addresses the problem of robust motion control of a Differentially Driven Wheeled Mobile
Robot (DWMR). Using the fact that DWMRs are differentially flat systems, the motion control design is relatively
simplified by defining the desired motions of the robot in the flat output space of the system. The accurate and the
robust trajectories tracking are provided firstly, by imposing the sliding manifold from the flat output space of the
system. Secondly, an adaptive gain discontinuous control law -adaptive sliding mode controller- is introduced to
drive to zero in finite time such sliding manifold, despite model uncertainties and external disturbances. The system
stability is proven using the Lyapunov theory. Compared with classical Feedback control algorithms and using the
laboratory test prototype, Pioneer 3DX, simulation and practical tests are presented to illustrate the performances
of the proposed approach in the presence of unknown external disturbances."
"Adaptive sliding mode control, differentially driven wheeled mobile robot (DWMR), flatness approach, Pioneer 3DX, robust control, trajectory planning/tracking."