Dynamic sliding mode control of a four-wheel skid-steering vehicle in presence of sliding

The paper deals with the design and the implementation of a robust path-following feedback controller, based on the dynamic model of a four-wheel skidsteering robot, performing high speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main object of this paper is to elaborate a sliding mode controller, proved to be robust enough to avoid the knowledge of the forces within the wheel-soil interaction, in the presence of sliding phenomena. Finally, a 3D simulation is performed with an accurate physical engine to evaluate the efficiency of this designed control law.