Model-free fast integral terminal sliding mode control with improved disturbance observer for robust trajectory tracking of omnidirectional mobile robots
Transactions of the Institute of Measurement and Control
Published online on October 23, 2025
Abstract
Transactions of the Institute of Measurement and Control, Ahead of Print.
This paper introduces a robust model-free fast integral terminal sliding mode control (MFFITSMC) that incorporates an improved disturbance observer for three-wheeled omnidirectional mobile robots (TWOMRs) operating in dynamic urban search and rescue (USAR)...
This paper introduces a robust model-free fast integral terminal sliding mode control (MFFITSMC) that incorporates an improved disturbance observer for three-wheeled omnidirectional mobile robots (TWOMRs) operating in dynamic urban search and rescue (USAR)...