Version 1
: Received: 25 October 2024 / Approved: 28 October 2024 / Online: 29 October 2024 (09:16:14 CET)
How to cite:
Teji, M. D.; Zou, T.; Zeleke, D. S. Backstepping-based Nonsingular Terminal Sliding Mode Control for Finite-Time Trajectory Tracking of Skid Steer Mobile Robot. Preprints2024, 2024102155. https://doi.org/10.20944/preprints202410.2155.v1
Teji, M. D.; Zou, T.; Zeleke, D. S. Backstepping-based Nonsingular Terminal Sliding Mode Control for Finite-Time Trajectory Tracking of Skid Steer Mobile Robot. Preprints 2024, 2024102155. https://doi.org/10.20944/preprints202410.2155.v1
Teji, M. D.; Zou, T.; Zeleke, D. S. Backstepping-based Nonsingular Terminal Sliding Mode Control for Finite-Time Trajectory Tracking of Skid Steer Mobile Robot. Preprints2024, 2024102155. https://doi.org/10.20944/preprints202410.2155.v1
APA Style
Teji, M. D., Zou, T., & Zeleke, D. S. (2024). Backstepping-based Nonsingular Terminal Sliding Mode Control for Finite-Time Trajectory Tracking of Skid Steer Mobile Robot. Preprints. https://doi.org/10.20944/preprints202410.2155.v1
Chicago/Turabian Style
Teji, M. D., Ting Zou and Dinku Seyoum Zeleke. 2024 "Backstepping-based Nonsingular Terminal Sliding Mode Control for Finite-Time Trajectory Tracking of Skid Steer Mobile Robot" Preprints. https://doi.org/10.20944/preprints202410.2155.v1
Abstract
Skid steer mobile robots are widely used in indoor and outdoor applications. However, accurate trajectory tracking control for this kind of robot is quite challenging due to the uncertainties arising from the complex behavior of frictional force, external disturbances, and undergoing fluctuations in the instantaneous center of rotation (ICR) during turning maneuvers. The uncertainties directly disturb velocities and make it impossible for the robot to track the command velocities, thus making the SSMR unable to follow the reference path. This paper proposes a nonsingular terminal sliding mode control (NTSMC) based on backstepping for a 4-wheel skid steer mobile robot to cope with the aforementioned challenges. The strategy seeks to mitigate the impact of external disturbances and model uncertainties by developing an adaptive law to estimate the integrated lumped outcome. Then, the finite time stability of the closed-loop system is proven using Lyapunov’s theory. The designed NTSMC input is continuous and has no noticeable chattering problem. It has also been noted from the analysis that the proposed control strategy is strongly robust against disturbance and modeling uncertainties. The proposed control scheme demonstrates effective trajectory tracking performance in the presence of disturbance and modeling uncertainties through simulations.
Keywords
Skid steer mobile robot; instantaneous center of rotation; uncertainty; nonsingular terminal sliding mode control; finite-time stability
Subject
Engineering, Mechanical Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
