Adaptive sliding mode trajectory tracking control for wheeled mobile robots

• Published in: International journal of control Vol. 92; no. 10; pp. 2255 - 2262
• Main Authors: Zhai, Jun-yong, Song, Zhi-bao
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 03.10.2019; Taylor & Francis Ltd
• Subjects: Adaptive control; Angular velocity; Control stability; Control theory; Robot control; Sliding mode control; Subsystems; terminal sliding mode; Tracking control; Trajectory control; wheeled mobile robots

This paper discusses the problem of adaptive sliding mode trajectory tracking control for wheeled mobile robots in the presence of external disturbances and inertia uncertainties. A new fast nonsingular terminal sliding mode surface without any constraint is proposed, which not only avoids singulari...