Design and implementation of two-wheeled mobile robot by variable structure Sliding Mode Control

This paper presents a variable structure sliding mode controller with a switching function of the sliding surface for the balance and trajectory tracking of a two-wheeled robot. Newton's law of motion method is used to construct the dynamic model of the designed two-wheeled robot such that the tracking controller can be synthesized using for the sliding mode control. A switching function of the sliding surface is designed and employed to eliminate the buffeting phenomenon. Simulations and real-time experiment results show that the proposed variable structure Sliding Mode Controller is capable of providing satisfactory trajectory tracking and balance performance.