Design of integral sliding-mode controller with finite-time convergence for omni-directional mobile robots

In this paper, a finite-time convergent integral sliding-mode controller (FTC-ISMC) is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach and integral sliding-mode control which can drive the error states and error rate states to zero in finite time. All the simulation results demonstrate the effectiveness of the proposed control method.