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This study proposes a Fast Integral Terminal Sliding Mode Control (FITSMC) method to enhance the trajectory tracking capability of car-like mobile robots. This method combines the superior advantages of existing Sliding Mode Control (SMC) methods, including the fast finite-time convergence of Fast Terminal Sliding Mode Control and the reduction of steady-state error of Integral Sliding Mode Control. The effectiveness of the proposed method is verified through simulations, demonstrating that the robot can quickly and stably achieve the desired reference trajectory in finite time, outperforming traditional sliding mode controllers.

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Enhanced Trajectory Tracking for Car-Like Mobile Robots

  • 会议论文

  • 发表日期：

    2025年

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  • Son Tung Dang,
  • Xuan Minh Dinh,
  • Tuan Nguyen Van,
  • Trung Nam Pham,
  • Ngoc Linh Nguyen,
  • Hai Xuan Le

摘要

This study proposes a Fast Integral Terminal Sliding Mode Control (FITSMC) method to enhance the trajectory tracking capability of car-like mobile robots. This method combines the superior advantages of existing Sliding Mode Control (SMC) methods, including the fast finite-time convergence of Fast Terminal Sliding Mode Control and the reduction of steady-state error of Integral Sliding Mode Control. The effectiveness of the proposed method is verified through simulations, demonstrating that the robot can quickly and stably achieve the desired reference trajectory in finite time, outperforming traditional sliding mode controllers.