A New Tracking Control Algorithm for Mobile Robots
This paper presents a new trajectory tracking control algorithm to uncertain mobile robot with nonholonomic constraints. This algorithm is based on the non-singular terminal sliding mode technique, which can eliminate the singularity problem caused by conventional terminal sliding mode control. The proposed control laws enable the mobile robots track the desired trajectory in finite time when the desired rotate velocities are nonzero. Simulation results show the effectiveness of the algorithm.
Dunwen Zuo, Hun Guo, Guoxing Tang, Weidong Jin, Chunjie Liu and Chun Su
Y. H. Zhao and R. F. Chen, "A New Tracking Control Algorithm for Mobile Robots", Key Engineering Materials, Vols. 426-427, pp. 202-205, 2010