A new sliding-surface-based tracking control of nonholonomic mobile robots

Bong Seok Park, Sung Jin Yoo, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This paper proposes a new sliding-surface-based tracking control system for nonholonomic mobile robots with disturbance. To design a robust controller, we consider the kinematic model and the dynamic model of mobile robots with disturbance. We also propose a new sliding surface to solve the problem of previous study. That is, since the new sliding surface is composed of differentiable functions unlike the previous study, we can obtain the control law for arbitrary trajectories without any constraints. From the Lyapunov stability theory, we prove that the position tracking errors and the heading direction error converge to zero. Finally, we perform the computer simulations to demonstrate the performance of the proposed control system.

Original languageEnglish
Pages (from-to)842-847
Number of pages6
JournalJournal of Institute of Control, Robotics and Systems
Issue number8
Publication statusPublished - 2008 Aug

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Applied Mathematics


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