| Issue |
E3S Web Conf.
Volume 496, 2024
International Conference on Energy, Infrastructure and Environmental Research (EIER 2024)
|
|
|---|---|---|
| Article Number | 02005 | |
| Number of page(s) | 9 | |
| Section | Engineering Physics and Computational Technologies | |
| DOI | https://doi.org/10.1051/e3sconf/202449602005 | |
| Published online | 12 March 2024 | |
Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot
1 National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City, Vietnam
2 Graduate University of Science and Technology, Vietnam Academy of Science and Technology, Hanoi, Vietnam
* Email: caotuan1307@gmail.com
This paper presents a trajectory control scheme for a non-holonomic differential drive mobile robot using the Non-singular Terminal Sliding Mode (NTSM) control method. The proposed approach, in fact, is a cascade control system scheme with the NTSM based dynamic controller at the internal loop which tracks the robot’s velocity quantities and a kinematic controller at the outer loop to regulate the robot’s position. In this manner, the control performance is robust to both disturbances and model’s uncertainties, as well as guarantees fast, finite-time convergence at better tracking precision. The simulation results demonstrate the merit of the anticipated control scheme.
© The Authors, published by EDP Sciences, 2024
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