Iman Abdalkarim Hasan,Nabil Hassan Hadi,



Wheeled mobile robot,kinematic control,dynamic control,sliding mode control,adaptive control,


Tracking wheeled mobile robot control is a complicated problem encounter in robotic science. Many issues occurring that are affecting the control of nonlinear robot in actual application. The applications would include uncertainties parameter and internal disturbances. The factors restrict the study of mobile robot tracing control.  In this study we modified adaptive sliding mode controller for nonholonomic wheeled mobile robot. The kinematic controller used to produce the desired tracking velocities as input term after that used suggested of the dynamic controller to overcome the uncertainties, disturbance and chattering effect of the sliding controller. according to stability of Lyapunov, the final controlled system is proven to be globally asymptotically stable. Proposed control system is verified and validated using MATLAB\SIMULINK to track the required WMR trajectory. A comparison between PI adaptive sliding mode and PI sliding mode is done. Simulated result portrays that in the presence of continuous disturbances and uncertainties and presented work with very good accuracy and fast error convergence and robustness.


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