Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots

This paper presents a novel extended state observer (ESO) approach for class of plants with nonlinear dynamics. The proposed estimates both the variables and total disturbance, which includes exogenous endogenous disturbance. study’s changes can be summarized by developing sliding mode higher-order augmented function estimation error correction terms (SMHOESO). By including multiple enhanced states, monitor disturbances asymptotically, second derivative disturbance serving as an upper constraint on error. feature improves observer’s ability to estimate uncertainty. To extend concept linear (LESO), modify in such way that provide faster more accurate estimations nonlinearity also reduces chattering issue LESOs. research thoroughly examines analyzes SMHOESO’s convergence using Lyapunov technique. According this analysis, SMHOESO is asymptotically stable, significantly reduced under real-world conditions. In addition SMHOESO, modified Active Disturbance Rejection Control (ADRC) scheme built, feedback (NLSEF) controller tracking differentiator (TD). Several models, Differential Drive Mobile Robot (DDMR), are numerically simulated, compared several alternative types, demonstrating significant reduction energy, increased control signal smoothness, reference signal.