Real-time implementation of sliding mode control technique for trajectory tracking control of mobile robot

In this thesis; analysis, design and real-time trajectory tracking control of an autonomous mobile robot has been realized. Firstly, the kinematic analysis of the designed mobile robot has been performed. By means of this analysis, angular speed of the mobile robot' s wheels have been defined for given trajectory tasks. After deriving kinematic analysis, dynamic analysis of system have been achieved using Lagrangian methods. After all analyzes, a novel mobile robot has been designed. In this thesis, two different control approaches have been used to improve the trajectory tracking performance of the designed mobile robot. Firstly, the real time trajectory tracking control of the system has been performed using classical PID control. Then, in order to increase the trajectory tracking performance of the system, the sliding mode control method, which takes into account the dynamic model of the system, has been utilized. According to the results obtained from the real-time closed-loop control experiments, obtained mathematical analysis of system have been proved to be correct and using the sliding control method improved tracking performance of designed system.