Finite-time tracking control for nonholonomic wheeled mobile robot using adaptive fast nonsingular terminal sliding mode

Abstract System uncertainties and external disturbances are the major causes of trajectory tracking performance degradation in nonholonomic wheeled mobile robots (NWMRs). In this article, an adaptive fast nonsingular terminal sliding mode dynamic control (AFNTSMDC) method is proposed to provide enhanced robust finite-time for NWMR. The AFNTSMDC a systematic design based upon both kinematic model controller has simple form without singularity issue input, which makes it practically implementable. stability tracking-error function also proved using Lyapunov function. Finally, circular experiments conducted validate robustness convergence rate scheme comparison with existing methods including classic control, conventional presence disturbances.