Nonsingular terminal sliding mode control of mobile robot using support vector machines

摘要

In this paper, nonsingular terminal sliding mode control strategies are originally presented for mobile robot in the presence of uncertainties and disturbances.The support vector machines is used to approximate an unknown controlled system from the strategic manipulation of the model errors.Based on the Lyapunov stability theory, it is shown that the proposed controller can prove the stability of the closed-loop system and guarantee tracking performance of robotic system.Finally, simulation results validate the superior control performance of the proposed control method.