Finite-time adaptive trajectory tracking control based on sliding mode for Wheeled Mobile Robot

Abstract

This paper addresses an adaptive finite-time controller-based sliding mode approach for a wheeled mobile robot in the trajectory tracking task under external disturbances and uncertainties. This method, based on the nonlinear dynamic model of the robot and its actuators, guarantees the stability and the convergence of the closed-loop system within the finite - time. Moreover, the smoothness of the computing voltage against the chattering phenomenon is improved thanks to the adaptive switching gain, which is updated online based on the fractional power of the sliding surface. The corrective function updated online contributes to the estimation and compensation of the external disturbances. This controller is associated with the kinematic controller, which is based on the back-stepping technique to complete the trajectory tracking controller scheme. The stability of the closed-loop system is theoretically proved using Lyapunov criteria. To check the efficiency of the proposed method, the numerical simulations are carried out in the Matlab/Simulink environment.