Title: Adaptive terminal sliding mode control of a non-holonomic wheeled mobile robot

Authors: Payam Qaderi Baban; Mina Esmaeili Ahangari

Addresses: Faculty of Electrical, Biomedical and Mechatronics Engineering, Islamic Azad University (Qazvin Branch), Qazvin, Iran ' Islamic Azad University (Noor Branch), Mazandaran, Iran

Abstract: In this paper, a second-order sliding mode adaptive controller with finite time stability is proposed for trajectory tracking of robotic systems. In order to reduce the chattering phenomenon in the response of the variable structure resistant controller, two dependent sliding surfaces are used. In the outer loop, a kinematic controller is used to compensate the geometric uncertainty of the robot, and in the inner loop, the proposed resistive control is used as the main loop. On the other hand, considering the dynamic uncertainty and disturbance of the robot, an adaptive strategy has been used to estimate the uncertainty limit during the control process in order to eliminate the need for basic knowledge to determine the uncertainty limit in the resistant structure. The proposed control method demonstrates significant enhancements in performance, with the linear velocity error improving by approximately 80%, leading to a more accurate and responsive system.

Keywords: terminal sliding mode control; adaptive variable structure control; robotic system; non-holonomic wheeled robot; zigzag phenomenon.

DOI: 10.1504/IJVICS.2024.142049

International Journal of Vehicle Information and Communication Systems, 2024 Vol.9 No.4, pp.335 - 356

Received: 14 Jun 2023
Accepted: 25 Dec 2023
Published online: 07 Oct 2024 *

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