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

Abstract

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.