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Sliding Mode Compensation for Inverse Dynamics Velocity Control of Wheeled Mobile Robot

Ranjit Kumar Barai


Velocity based path planning results into an energy efficient motion control system of autonomous mobile robots. Consideration of dynamics of mobile robot is crucial for high speed operation, turning, climbing slope, payload variation etc. during various real life situations. This paper presents a novel approach for motion control of wheeled mobile robot incorporating the inverse dynamics technique in the velocity control of wheeled mobile robot so that the above challenges could be addressed properly. To compensate the ill-effects of the model uncertainties, a sliding mode compensating term has been introduced in the control law. The effectiveness of the proposed control law has been verified in simulation studies.

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