Mobile Robot Trajectory Tracking Based on Fast Terminal Sliding Mode Control
نویسندگان
چکیده
This paper presents a trajectory tracking control method for nonholonomic mobile robot which is based only on kinematic model. A mobile robot trajectory tracking control method, based on terminal sliding mode control, with asymptotic stability is presented. Based on kinematic model of mobile robot, a terminal sliding mode control law for the angular velocity is proposed to reduce the tracking errors of the heading angle by using the finite time control method. Fast Terminal sliding mode control (FTSM) can conduct the system states to converge to zero in a finite time, ensures asymptotical convergence of states by using the Lyapunov stability method and proves that the sliding mode tracking controller is stable. There is no switch function in fast terminal sliding mode; therefore, the chattering phenomenon is avoided. The simulations results show that the control laws of this approach are tending towards to the desired velocity and show a stability in a very short time, thus the tracking errors of the planar coordinate and the errors of the heading angle are almost zero. Keywords-mobile robot; terminal sliding mode; trajectory tracking; Lyapunov stability; finite time.
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