Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

Abstract

This paper deal with a robust sliding-mode trajectory tracking controller, for nonholonomic wheeled mobile robots and its experimental evaluation by the implementation in an intelligent wheelchair (RobChair). The proposed control structure is based on two nonlinear sliding surfaces ensuring the tracking of the three output variables, with respect to the nonholonomic constraint. The performances of the proposed controller for the trajectory planning problem with comfort constraint are verified through the real time acceleration provided by an inertial measurement unit.