Line following robots have ability to track a given path autonomously using feedback mechanisms. The path is usually a black line on a white surface or a white line on a black surface. Today, line following robots are used in medical, industrial and automotive industries. Therefore, the studies on the line following robots have been increased recently. In this study, a robust, non-chattering sliding mode control (SMC) is designed and applied for a line following robot. The mobile robot is designed to sense the straight or curved path with its infrared sensors mounted on the robot. Therefore, these infrared sensors provide continuous streaming of the defined path to guide or direct changes in robot by activating motors on right wheel or/and left wheel. The control strategy is curial to track complex paths accurately and to have a fast, stable and accurate line following robot. Thus, for comparison, conventional proportional-integral-derivative (PID) is also applied to robot. The main purpose of this study is to investigate performance of sliding mode control during path tracking. For this, numerical solution and experimental study were carried out. From the results, it was understood that sliding mode controller is highly efficient in tracking the path.

直线跟踪机器人具有使用反馈机制自主跟踪给定路径的能力。路径通常是白色表面上的黑线或黑色表面上的白线。如今，行跟踪机器人已用于医疗，工业和汽车行业。因此，近来对跟随机器人的生产线的研究有所增加。在这项研究中，设计了一种鲁棒，无抖动的滑模控制（SMC），并将其应用于直线跟踪机器人。移动机器人的红外传感器安装在机器人上，可以感知直线或弯曲路径。因此，这些红外传感器通过激活右轮或/和左轮上的电机，提供连续的定义路径流，以引导或引导机器人的变化。控制策略对于准确跟踪复杂路径并具有快速，稳定，准确的线跟随机器人。因此，为了进行比较，常规比例积分微分（PID）也应用于机器人。这项研究的主要目的是研究路径跟踪过程中滑模控制的性能。为此，进行了数值解和实验研究。从结果可以看出，滑模控制器在跟踪路径方面非常高效。