Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots with External Disturbances and Parameter Uncertainties

Nabaa Nasser Ali; Mahmoud shahi

doi:10.62909/ejeee.2025.003

Authors

Nabaa Nasser Ali Department of Electricity, College of Engineering, Azad University, Tehran, Iran Author https://orcid.org/0009-0008-8065-8668
Mahmoud shahi Department of Electricity, College of Engineering, Azad University, Tehran, Iran Author https://orcid.org/0000-0003-3303-8235

DOI:

https://doi.org/10.62909/ejeee.2025.003

Keywords:

Non-holonomic Wheeled Mobile Robot, Fast Terminal Sliding Mode Control, Sliding Surface, Lyapunov Function, Position Control

Abstract

The system studied in this research is a nonholonomic wheeled mobile robot (WMR) with three degrees of freedom (3-DOF). The goal is to design a fast end-sliding mode control for positioning and stabilizing the system's forward motion and angle. The methodology involves formulating the system's dynamic equations using Newton-Euler equations and then converting them into state-space form. The designed controller is then applied to the system, and external random noise disturbances are introduced via MATLAB simulations to evaluate the system's robustness against uncertainties and disturbances.

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