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

Author

Listed:
  • Tuan Ngoc Tran Cao

    (National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 700000, Vietnam
    Graduate University of Science and Technology, Vietnam Academy of Science and Technology, Hanoi 10072, Vietnam)

  • Binh Thanh Pham

    (National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 700000, Vietnam
    Graduate University of Science and Technology, Vietnam Academy of Science and Technology, Hanoi 10072, 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)

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.

Suggested Citation

  • Tuan Ngoc Tran Cao & Binh Thanh Pham & No Tan Nguyen & Duc-Lung Vu & Nguyen-Vu Truong, 2024. "Second-Order Terminal Sliding Mode Control for Trajectory Tracking of a Differential Drive Robot," Mathematics, MDPI, vol. 12(17), pages 1-13, August.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:17:p:2657-:d:1464977
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    References listed on IDEAS

    as
    1. Tan-No Nguyen & Thanh-Binh Pham & Van-Trong Hoang & Tan-Tien Nguyen & Viet-Long Nguyen & Nguyen-Vu Truong, 2021. "Efficient Sensorless Speed Estimation of Electrical Servo Drives Using a Full-Order Nonsingular Terminal Sliding Mode Observer," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-8, January.
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