Title: Mobile robot control based on high-order sliding mode differentiator

Authors: Cuiping Pu; Yi Wu; Dongchen Dai; Ruixin Li

Addresses: College of Mechanical and Electrical Engineering, Kunming University, Kunming, China ' School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, China ' Department of Automation, Shanghai Jiao Tong University, Shanghai, China ' Department of Automation, Shanghai Jiao Tong University, Shanghai, China

Abstract: This paper proposes a dual loop sliding mode control method based on high-order sliding mode differentiator to address the problem of chattering in trajectory tracking of sliding mode controlled mobile robots. The sliding mode control based on high-order sliding mode differentiator avoids high-frequency switching of control signals in traditional sliding mode control, thereby suppressing jitter. High order sliding mode differentiators can achieve fast convergence within a finite time, and mobile robots can reach the desired trajectory in a shorter period of time. High order sliding mode differentiators can accurately estimate the system state, effectively compensate for unknown system dynamics and external disturbances, and improve the robustness and stability of the system. Simulation analysis shows that this control method effectively reduces chattering, has stronger anti-interference ability, and better trajectory tracking effect.

Keywords: high-order sliding mode differentiator; mobile robots; trajectory tracking; dual loop control.

DOI: 10.1504/IJSCC.2025.147365

International Journal of Systems, Control and Communications, 2025 Vol.16 No.3, pp.227 - 241

Received: 23 Dec 2024
Accepted: 17 Feb 2025
Published online: 14 Jul 2025 *

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