Simulation of Motion Control Differential Drive Mobile Robots Using Global Terminal Sliding Mode Controller.

Abstract

The primary goal of this study was to model and design a global fast terminal sliding mode control with quick reaching strategy for a two-wheeled mobile robots, specifically for differential drive mobile robot. In this thesis, an approach of dynamics modeling of DDMR using Langrage and GFTSMCQR trajectory tracking of DDMR is proposed. The proposed controller is a cascaded system such that designed to improve the dynamic response of the system i.e. fast convergence and high precision control system, asymptotical convergence, and chattering phenomena using GFTSMCQR. To render an asymptotical merging of the response to desired states and decrease the chattering in a traditional SMC system, a quick reaching law is proposed for DDMR, which makes the DDMR system have a fast approaching rate without chattering due switching functions. Moreover, an improved GFT sliding surface is proposed for the DDMR, makes DDMR translational and rotational system to attain equilibrium points in a finite time along the GFT sliding surface with an increased approaching rate and high precision control system.