Cascade Control Based on Sliding Mode for Trajectory Tracking of Mobile Robot Formation

An innovative cascade control strategy is presented in this work, based on sliding mode control (SMC) for trajectory tracking of the formation of mobile robots. The proposed strategy was compared with five alternative control approaches: PID control, inverse dynamics, and other SMC-based structures. The objective was to evaluate the most effective control technique by analyzing the integral of squared error (ISE) index. Additionally, robustness tests were carried out by varying the parameters of the dynamic model of the mobile robot and analyzing the response of the controllers to perturbations in the modeling. The results show that the PD-SMCV controller provides the best performance in trajectory tracking and robustness against disturbances, demonstrating significant superiority over the evaluated methods for maintaining a stable mobile robot formation under dynamic conditions.