Performing trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controller

Designing New Model-Based Adaptive Sliding Mode Controllers for Trajectory Tracking Control of an Unmanned Ground Vehicle

“…The main goal of trajectory tracking control is to minimize the error between the predetermined reference trajectory and the actual trajectory of the UGV. While earlier studies aimed to solve the trajectory tracking control problem with linear controllers, the nonlinear structure of the vehicle and uncertainties and disturbances made it difficult to achieve desired tracking performance for heavy loads or high speeds [4]. Later studies mostly used the kinematic model of the vehicle, but it has been observed that kinematic model-based controllers alone are insufficient for real trajectory tracking control and both kinematic and dynamic model-based controllers are required [5], [6], [7].…”

“…Nonlinear control methods that do not require a system model have been used [8], [9], [10], [11] and SMC is a popular choice due to its robustness to uncertainties, parameter changes and external disturbances [12], [13], [14], as well as its good speed response and transient performance [15], [16]. Thanks to these advantages, SMC has often been chosen to perform trajectory tracking control of the UGV [17], [18], [19]. However, in real applications, it is difficult to use SMC alone for UGV trajectory tracking control due to the unknown system parameters, nonlinear UGV model and disturbances.…”