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This paper proposes a robust trajectory tracking control strategy for four-wheel-drive (4WD) nonholonomic mobile robots based on a nonsingular terminal sliding mode controller (NTSMC) integrated with a high-order integral-chain differentiator (HOICD). The approach effectively handles nonlinearities, disturbances, and parameter uncertainties without requiring full-state measurements. The HOICD estimates unmeasured velocities while suppressing high-frequency noise. Lyapunov analysis ensures finite-time convergence of tracking errors. Simulation results verify that the proposed method achieves higher tracking accuracy and robustness than PID and backstepping SMC under time-varying disturbances and model uncertainties.

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Nonsingular Terminal Sliding Mode Control with High-Order Integral Differentiator for Trajectory Tracking of 4WD Nonholonomic Mobile Robots

  • 会议论文

  • 发表日期：

    2026年

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  • Sy Phuong Ho,
  • Thanh Tri Nguyen,
  • Dinh Tu Duong,
  • Van Chuong Le,
  • Van Du Phan,
  • Van Nam Dinh,
  • Ha Manh Dung,
  • Minh Dang Dau,
  • Van Vy Phan

摘要

This paper proposes a robust trajectory tracking control strategy for four-wheel-drive (4WD) nonholonomic mobile robots based on a nonsingular terminal sliding mode controller (NTSMC) integrated with a high-order integral-chain differentiator (HOICD). The approach effectively handles nonlinearities, disturbances, and parameter uncertainties without requiring full-state measurements. The HOICD estimates unmeasured velocities while suppressing high-frequency noise. Lyapunov analysis ensures finite-time convergence of tracking errors. Simulation results verify that the proposed method achieves higher tracking accuracy and robustness than PID and backstepping SMC under time-varying disturbances and model uncertainties.