Adaptive Sliding Mode Control for Robust Trajectory Tracking of Car-Like Mobile Robots in Autonomous Navigation Systems

Document Type : Research Paper

Authors
Son-Tung Dang 1
Xuan-Minh Dinh 2
Tuan-Anh Than Ngoc 3
Van-Tuan Nguyen 2
Dinh-Thai Kim 1
Xuan-Hai Le 1
1 International School, Vietnam National University, Hanoi (VNU-IS), Xuan Thuy Campus: Buildings E5 & G7, 144 Xuan Thuy, Cau Giay, Hanoi 100000, Vietnam
2 Faculty of Mechanical Engineering and Mechatronics, Phenikaa University, Duong Noi, Hanoi 12116, Vietnam
3 HTI Group, 15F – VP2, Sun Square Building, 21 Le Duc Tho Street, Tu Liem Ward, Hanoi 100000, Vietnam
10.22055/jacm.2025.48406.5213
Abstract
This study proposes an Adaptive Nonsingular Fast Terminal Sliding Mode Control (Adaptive-NFTSMC) control method for four-wheeled Car-Like Mobile Robots (CLMRs) to enhance trajectory-tracking performance. The controller extends the Nonsingular Fast Terminal Sliding Mode Control (NFTSMC) technique with Lyapunov-based adaptive laws that update control parameters and estimate the upper bound of disturbances. As a result, the system is able to effectively cope with uncertainties and disturbances without pre-assumptions on amplitude limits, overcoming the limitations commonly found in traditional NFTSMC. The approach features a simple structure, rapid response, absence of chattering, high tracking accuracy, robust stability, singularity avoidance, and finite‑time convergence. Moreover, Adaptive‑NFTSMC is designed for straightforward integration into standard autonomous navigation stacks, enhancing its practical applicability. Closed‑loop stability is rigorously proven through Lyapunov analysis and verified via MATLAB/Simulink simulations. Simulation results show that Adaptive‑NFTSMC outperforms classical SMC and an existing Adaptive NFTSMC (ANFTSMC), particularly under conditions with uncertainties and disturbances.
Keywords
Car-Like Mobile Robots
Nonsingular Fast Terminal Sliding Mode Control
Adaptive Nonsingular Fast Terminal Sliding Mode Control
Adaptive Trajectory Tracking Control
Subjects

Publisher’s Note Shahid Chamran University of Ahvaz remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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Journal of Applied and Computational Mechanics
Volume 12, Issue 3
Summer 2026
Pages 739-758