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Most of the path following research for 4WD4WS mobile robots is conducted with two control loops, the kinematic loop and the dynamic loop. This article proposes a method using Non-Singular Terminal Sliding Mode Control (NSTSM) to improve the efficiency of dynamic control loop. The proposed control method is not only proved to be stable under disturbances but also has finite time convergence which was calculated explicitly and visually shown in simulation.

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Non-singular Terminal Sliding Mode Control of the Steering Wheels of 4WD4WS Mobile Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Kien Nam Dang,
  • Vu Nguyen,
  • Huy Quoc Vu

摘要

Most of the path following research for 4WD4WS mobile robots is conducted with two control loops, the kinematic loop and the dynamic loop. This article proposes a method using Non-Singular Terminal Sliding Mode Control (NSTSM) to improve the efficiency of dynamic control loop. The proposed control method is not only proved to be stable under disturbances but also has finite time convergence which was calculated explicitly and visually shown in simulation.