Terminal sliding mode control with disturbance observer for autonomous mobile robots

To realize trajectory tracking of autonomous mobile robots, a fast terminal sliding mode control (FTSMC) law is developed in this paper. And, a sliding mode disturbance observer (SMDO) is designed to estimate the uncertainties in system and improve the tracking performance. The designed control law based on disturbance observer avoids the singularity of traditional FTSMC and has a faster convergence speed and a higher tracking precision. The simulation results verify the effectiveness of the developed controller of the autonomous mobile robot.