Fahimeh Kordi - Department of Electrical Engineering, Saveh Branch, Islamic Azad University, Saveh, Iran
Hamidreza Reza Alikhani - Department of Electrical Engineering, Tafresh University, Tafresh, Iran
Javad Nikoukar - Department of Electrical Engineering, Saveh Branch, Islamic Azad University, Saveh, Iran

In this paper, reference path tracking based on terminal slip mode control for a wheeled mobile robot is presented and the proposed method is practically simulated on a mobile robot. The wheeled actuator is a nonlinear system with two inputs for controlling and three state variables and a nonlinear constraint. To control this system in this paper, first by converting the equations of the non-holonomic system into a chain form, the equations of a wheeled mobile robot are extracted for generalized chain equations. Then the limited time terminal sliding model control method is presented to control the reference path tracking of this system. It could be run using a graphical simulation environment in MATLAB software. The proposed method for the wheeled mobile robot used in the laboratory is simulated. The simulation results in the graphical environment show the efficiency of the proposed method in comparison with the classical sliding mode control method. Finally, the practical results of the controller simulation to follow the reference path provided on the mobile robot are shown. The results of the practical simulation show well the proper performance of the proposed method.

NON-HOLONOMIC SYSTEMS, sliding mode control, TERMINAL SLIDING MODE CONTROLLER, GRAPHIC SIMULATION