Second-Order Terminal Sliding Mode Control for Trajectory Tracking of a Differential Drive Robot

摘要

This paper proposes a second-order terminal sliding mode (2TSM) approach to the trajectory tracking of the differential drive mobile robot (DDMR). Within this cascaded control scheme, the 2TSM dynamic controller, at the innermost loop, tracks the robot’s velocity quantities while a kinematic controller, at the outermost loop, regulates the robot’s positions. In this manner, chattering is greatly attenuated, and finite-time convergence is guaranteed by the second-order TSM manifold, which involves higher-order derivatives of the state variables, resulting in an inherently robust as well as fast and better tracking precision. The simulation results demonstrate the merit of the proposed control methods.