Trajectory Tracking for Nonholonomic Mobile Robot (NMR) via Non-singular Terminal Sliding Mode Control

The paper presents the solution for the problem of non-singularities produce by conventional sliding mode control. The solution is implemented on the application of non-holonomic mobile robot(NMR) in term of trajectory tracking. To solve this problem a controller is formed based on non-singular terminal sliding mode controller (NTSMC), which drives the tracking error to zero in finite time. It not only ensures the tracking but also solve the non-singularity issues. The designed control scheme is then modified using High gain Observer. With the Lyapunov analysis, the stability of the proposed algorithm is verified. Simulated, graphs are shown to prove the efficacy of the proposed control scheme and also assure that the controller achieved the desired objectives.