Finite-Time Trajectory Tracking Control of Mobile Robots Based on Dynamic Terminal Sliding Mode

摘要

In this paper, the problem of finite-time trajectory tracking control is addressed for nonholonomic mobile robots. First, a terminal sliding mode surface is presented based on the kinematics and dynamics models of the mobile robot. Then, the nonsingular dynamic terminal sliding mode controller is designed to make the tracking error along the sliding mode surface converge to the origin in finite time. Our provided method is advantageous to ensure the fastness of trajectory tracking and exclude the chattering of controller. Further, a Lyapunov-based technique is utilized to prove finite-time stability of the error system. Finally, the effectiveness of the method is verified by simulation.