Second-Order Terminal Sliding Mode Control for Trajectory Tracking of a Differential Drive Robot

This paper proposes a second-order terminal sliding mode (2TSM) approach to the trajectory tracking of the differential drive mobile robot (DDMR). Within this cascaded control scheme, the 2TSM dynamic controller, at the innermost loop, tracks the robot’s velocity quantities while a kinematic control...

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Bibliographic Details
Published inMathematics (Basel) Vol. 12; no. 17; p. 2657
Main Authors Tran Cao, Tuan Ngoc, Binh Thanh Pham, No Tan Nguyen, Duc-Lung Vu, Nguyen-Vu, Truong
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.09.2024
Subjects
Automation
Control methods
Controllers
Kinematics
nonlinear control systems
R&D
Research & development
Robot control
Robots
Robust control
Sliding mode control
terminal sliding-mode control
Tracking
Trajectory control
uncertain systems
Velocity
Wheels
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Summary:This paper proposes a second-order terminal sliding mode (2TSM) approach to the trajectory tracking of the differential drive mobile robot (DDMR). Within this cascaded control scheme, the 2TSM dynamic controller, at the innermost loop, tracks the robot’s velocity quantities while a kinematic controller, at the outermost loop, regulates the robot’s positions. In this manner, chattering is greatly attenuated, and finite-time convergence is guaranteed by the second-order TSM manifold, which involves higher-order derivatives of the state variables, resulting in an inherently robust as well as fast and better tracking precision. The simulation results demonstrate the merit of the proposed control methods.
ISSN:2227-7390
DOI:10.3390/math12172657