Research on Four-Wheel Ring Coupling Synchronization Control Strategy of Wheel-Foot Robot Based on Adaptive Terminal Sliding Mode

In this paper, a novel adaptive integral terminal sliding mode control strategy is proposed to realize the wheel motion control of four-wheeled robot. The control method combines the adaptive terminal integral sliding mode with the ring coupling synchronous control structure to control the speed tracking error of each wheel and the synchronization error between the wheels so that the two errors converge to zero within a finite time. In addition, the adaptive strategy is used to estimate the total disturbance of the system in real time to adjust the switching gain of the sliding mode controller in real time to avoid excessive switching gain, which can produces large vibrations. The stability of the controller is proved by the theory of Lyapunov stability. The comparison between speed tracking and velocity synchronization performance of PID loop coupling control and adaptive terminal integral sliding mode algorithm under different working conditions is compared with Matlab simulation. The simulation results verify the effectiveness of the proposed control algorithm.