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

Tuan Ngoc Tran Cao, Binh Thanh Pham, No Tan Nguyen, Duc-Lung Vu and Nguyen-Vu Truong ()
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Tuan Ngoc Tran Cao: National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 700000, Vietnam
Binh Thanh Pham: National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 700000, Vietnam
No Tan Nguyen: National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 700000, Vietnam
Duc-Lung Vu: University of Information Technology, Vietnam National University, Ho Chi Minh City 71308, Vietnam
Nguyen-Vu Truong: National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 700000, Vietnam

Mathematics, 2024, vol. 12, issue 17, 1-13

Abstract: 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.

Keywords: nonlinear control systems; robust control; terminal sliding-mode control; uncertain systems (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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