Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot

Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot

This paper presents a trajectory control scheme for a non-holonomic differential drive mobile robot using the Non-singular Terminal Sliding Mode (NTSM) control method. The proposed approach, in fact, is a cascade control system scheme with the NTSM based dynamic controller at the internal loop which...

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Bibliographic Details
Main Authors: Cao Tuan Ngoc Tran, Pham Binh Thanh, Tran Hieu Duc, Gia Long Xuan, Nguyen No Tan, Truong Vu Nguyen
Format: Article
Language:English
Published: EDP Sciences 2024-01-01
Series:E3S Web of Conferences
Online Access:https://www.e3s-conferences.org/articles/e3sconf/pdf/2024/26/e3sconf_eier2024_02005.pdf

Internet

https://www.e3s-conferences.org/articles/e3sconf/pdf/2024/26/e3sconf_eier2024_02005.pdf

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