Journal of Robotics and Control (JRC)
Vol. 6 No. 4 (2025)

Adaptive Sliding Mode Control for Trajectory Tracking in Three-Wheeled Mobile Robots: Experimental Validation and Performance Analysis

Doan, Hoa Van (Unknown)

Article Info

Publish Date
01 Jul 2025

Abstract

This paper presents an adaptive sliding mode control approach (ASMC) designed for trajectory tracking of a three-wheeled mobile robot (TWMR), accounting for external disturbances and wheel slippage effects. First, the TWMR system model is converted into a dynamic form of the tracking error, and then a SMC is designed for this error model. The synthetic disturbance is approximated through an adaptive law, which helps the system maintain high stability. The results from simulating the controller on Matlab/Simulink software, as well as implementing the algorithm on the experimental TWMR model, have demonstrated the accuracy and efficiency of the proposed method.

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Journal Info
Journal of Robotics and Control (JRC)
Website

Abbrev

jrc

Publisher

Universitas Muhammadiyah Yogyakarta

Subject

Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

Description

Journal of Robotics and Control (JRC) is an international open-access journal published by Universitas Muhammadiyah Yogyakarta. The journal invites students, researchers, and engineers to contribute to the development of theoretical and practice-oriented theories of Robotics and Control. Its scope ...