In this paper, a new smooth second order sliding mode control is proposed. This algorithm is a modified form of Super Twisting algorithm. The Super Twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular Lyapunov function. The Proposed algorithm which is able to control nonlinear systems with matched structured u...

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

in this paper, a new smooth second order sliding mode control is proposed. this algorithm is a modified form of super twisting algorithm. the super twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular lyapunov function. the proposed algorithm which is able to control nonlinear systems with matched structured u...