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...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2024-01-01
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| Series: | E3S Web of Conferences |
| Online Access: | https://www.e3s-conferences.org/articles/e3sconf/pdf/2024/26/e3sconf_eier2024_02005.pdf |
| _version_ | 1797249037537116160 |
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| author | Cao Tuan Ngoc Tran Pham Binh Thanh Tran Hieu Duc Gia Long Xuan Nguyen No Tan Truong Vu Nguyen |
| author_facet | Cao Tuan Ngoc Tran Pham Binh Thanh Tran Hieu Duc Gia Long Xuan Nguyen No Tan Truong Vu Nguyen |
| author_sort | Cao Tuan Ngoc Tran |
| collection | DOAJ |
| description | 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 tracks the robot’s velocity quantities and a kinematic controller at the outer loop to regulate the robot’s position. In this manner, the control performance is robust to both disturbances and model’s uncertainties, as well as guarantees fast, finite-time convergence at better tracking precision. The simulation results demonstrate the merit of the anticipated control scheme. |
| first_indexed | 2024-04-24T20:24:07Z |
| format | Article |
| id | doaj.art-c229c3401bda43fd80f2f70bd845daf2 |
| institution | Directory Open Access Journal |
| issn | 2267-1242 |
| language | English |
| last_indexed | 2024-04-24T20:24:07Z |
| publishDate | 2024-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | E3S Web of Conferences |
| spelling | doaj.art-c229c3401bda43fd80f2f70bd845daf22024-03-22T07:54:10ZengEDP SciencesE3S Web of Conferences2267-12422024-01-014960200510.1051/e3sconf/202449602005e3sconf_eier2024_02005Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robotCao Tuan Ngoc Tran0Pham Binh Thanh1Tran Hieu Duc2Gia Long Xuan3Nguyen No Tan4Truong Vu Nguyen5National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and TechnologyNational Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and TechnologyNational Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and TechnologyNational Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and TechnologyNational Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and TechnologyNational Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and TechnologyThis 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 tracks the robot’s velocity quantities and a kinematic controller at the outer loop to regulate the robot’s position. In this manner, the control performance is robust to both disturbances and model’s uncertainties, as well as guarantees fast, finite-time convergence at better tracking precision. The simulation results demonstrate the merit of the anticipated control scheme.https://www.e3s-conferences.org/articles/e3sconf/pdf/2024/26/e3sconf_eier2024_02005.pdf |
| spellingShingle | Cao Tuan Ngoc Tran Pham Binh Thanh Tran Hieu Duc Gia Long Xuan Nguyen No Tan Truong Vu Nguyen Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot E3S Web of Conferences |
| title | Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot |
| title_full | Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot |
| title_fullStr | Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot |
| title_full_unstemmed | Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot |
| title_short | Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot |
| title_sort | non singular terminal sliding mode control for trajectory tracking of a differential drive robot |
| url | https://www.e3s-conferences.org/articles/e3sconf/pdf/2024/26/e3sconf_eier2024_02005.pdf |
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