Motion Control System of a Mobile Robot Based on Improved Sliding Mode

This paper presents improved sliding mode control law based on hyperbolic tangent function proposed for motion control system of four-wheel mobile robot. The kinematics model of the four-wheel differential robot is researched. The improved sliding mode control based on hyperbolic tangent function for robot motion is studied, and wheel control based on sliding mode is presented. Due to the combination of the approach law and the substitution of the saturation algorithm for the discontinuous switching control, the system response time is shorter, and the motion process is more stable.