SLIDING MODE CONTROL FOR GRADIENT TRACKING AND ROBOT NAVIGATION USINGARTIFICIAL POTENTIAL FIELDS

This paper introduces a sliding mode control strategy for tracking the gradient of an artificial potential field, The control methodology is applicable to fully actuated holonomic robotic systems with n-degrees of freedom, The controller yields exact tracking of the gradient line s and is invariant with respect to parametric uncertainty and disturba nces in system dynamics, A detailed case study for mobile robots intro duces the equilibrium point placement method for designing harmonic pl anar potential fields for circular obstacle security zones. Diffeomorp h mappings can be utilized for more complex obstacle security zones, T he gradient of the harmonic potential field is shown to always lead aw ay from the obstacle security zone and to continuously approach the go al point.