Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR)

Fady Ibrahim*, A. A. Abouelsoud, Ahmed M.R. Fath El Bab, Tetsuya Ogata

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


A discontinuous stabilizing control of Skid-Steering Mobile Robot (SSMR) is proposed using σ transformation introduced in Astolfi (Syst. Control Lett. 27(1), 37–45, 1996). A linear time-invariant system (LTI) is obtained which is driven by state-dependent disturbance. A linear H controller is designed to reduce the effect of this disturbance. Two control transformations are carried out in order to bring the system in a form suitable for σ transformation; one for the case of SSMR orientation around 0 and π and the other around ± π/2. The resulting two controllers for the two cases are blended using fuzzy logic. The closed-loop system is simulated using Matlab environment on point stabilization from different initial conditions. Results show that the proposed controller guarantees asymptotic stability with smooth paths. Experimental results are consistent with simulation and show that the proposed controller succeeded to stabilize the SSMR to the desired point without shuttering.

Original languageEnglish
Pages (from-to)253-266
Number of pages14
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
Publication statusPublished - 2019 Aug 15


  • Discontinuous control
  • Fuzzy logic
  • Genetic algorithm
  • H control
  • Skid-steering mobile robot
  • σ transformation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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