Hosein Ghasemi Sahebi - Babol University of Technology
Behrooz Rezaie - Babol University of Technology
Zahra Rahmani - Babol University of Technology

This paper deals with utilizing a fine-tuned terminal sliding mode control method for controlling a class of nonholonomic systems described by an extended chained form of state space equations. For this purpose, the parameters of terminal sliding mode control method is exactly tuned using an evolutionary algorithm namely bacterial foraging optimization such that the tracking error reaches to zero in a short period of time. Applying the proposed design method, results in considerable reduction in the convergence time of the states as well as the chattering phenomenon. The method is also applied to the system in presence of input uncertainty. Numerical simulations for a well-known nonholonomic system i.e. wheeled mobile robot demonstrate an effective improvement in the results comparing with conventional terminal sliding mode control method. It is also shown that the robustness of the proposed controller against uncertainties is considerably enhanced.

bacterial foraging optimization, chained form, nonholonomic system, terminal sliding mode control, wheeled mobile robot