I've implemented SMC (Sliding Mode Controller) on WMR in both X-Y and X-Z plane. Now i want to combine both of these to control WMR in 3D. For this purpose I'm trying to use resultant vector of simulation in XY plane and track that resultant vector in XZ plane as value of X in previously designed code. Tracking control of resultant vector is shown in figure 1 while Vector sum decomposed in rectangular coordinates after simulation is shown in figure 2.
Am I going wrong?
What other tecniques can I apply to do 3D control of vehicle using Sliding Mode Controller.
Can i reduce the time delay offset? I've implemented right equations for SMC tracking controller equations but simulation does not gives exact results.These equations work well for control of vehicle in two dimensions (X-Z plane).