Mobile robot trajectory tracking using PID fast terminal sliding mode inverse dynamic Control

Abstract

This paper presents a PID fast terminal sliding mode dynamic inverse control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties, it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. The PID Control is based on a fast terminal sliding mode control to ensure asymptotic stabilization of the robot's position and orientation around the desired trajectory, taking into account the kinematics and dynamics of the robot. The idea behind this strategy is to use the terminal sliding mode control approach to assure the finite time convergence of tracking errors to zero. Simulation works demonstrate the efficacy of the proposed system for mobile robots robust tracking trajectory.