Experimental testing of a discrete time sliding mode controller for the trajectory tracking of a mobile vehicle in the presence of skidding effect.

This article addresses the trajectory tracking problem for a wheeled mobile base, considering the presence of disturbances that violate the nonholonomic constraint, and using an approximated discrete-time model for the vehicle. The proposed solution is based on discrete-time sliding mode control, in order to ensure that the controller is both robust and implementable. The asymptotic boundedness of the discrete-time tracking errors is theoretically proved, and experimental results are reported, showing the effectiveness of the proposed control law.