Trajectory tracking using continuous sliding mode algorithms for differential drive robots

Trajectory tracking for a differential drive robot considering two models of different relative degree is analyzed. The first model considers wheels velocities as control inputs and hence a system which has outputs with relative degree 1 is used. In this case “Super Twisting Algorithm” is implemented. The second model considers motor voltages as control inputs and hence a system which has outputs with relative degree 2 is used. In this case “Continuous Twisting Algorithm” is implemented. The comparison of the strategies is done in simulations and experimentally.