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

Autor:	Tuan Ngoc Tran Cao, Binh Thanh Pham, No Tan Nguyen, Duc-Lung Vu, Nguyen-Vu Truong
Jazyk:	angličtina
Rok vydání:	2024
Předmět:	nonlinear control systems robust control terminal sliding-mode control uncertain systems Mathematics QA1-939
Zdroj:	Mathematics, Vol 12, Iss 17, p 2657 (2024)
Druh dokumentu:	article
ISSN:	2227-7390
DOI:	10.3390/math12172657
Popis:	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.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/75089f389fa349abb9a844bf0578832f Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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