An Analysis of Sliding Mode Speed Controller for a Differential Drive Wheel Mobile Robot

Abstract

In this study, we present a systematically designed Sliding Mode Speed Controller (SMSC) tailored for motors utilized in a Differential Drive Wheel Mobile Robot (DDWMR). Our analysis delves into the critical parameters of the SMSC, including convergence and reaching rates, alongside simulation configurations such as time step. We concurrently consider metrics like rising time, steady-state error, and control ripple factors to optimize performance. Through comprehensive evaluation across various case studies, we demonstrate the efficacy of the fine-tuned SMSC in enhancing the overall performance of the DDWMR. Our simulation results underscore the significance of meticulous parameter tuning, particularly emphasizing the role of time step settings. We find that a smaller time step mitigates chattering phenomena and improves performance, albeit at the cost of increased computational demands and potentially heightened hardware requirements.