Robust‐Adaptive Dual Terminal Sliding Mode Control of Skid Steering Mobile Robots Under Uncertainties and Disturbances With Unknown State‐Dependent Upper Bounds

ABSTRACT This paper addresses the challenge of finite‐time trajectory tracking for four‐wheeled skid‐steering mobile robots under model uncertainties and external disturbances with unknown and state‐dependent bounds. Robust‐adaptive dual terminal sliding mode control strategies are developed to estimate perturbations modeled as a nonlinear function of the system state, ensuring stability while navigating on rough terrains. A novel approach is then introduced to reduce chattering phenomena. The proposed terminal control strategy guarantees convergence of the tracking error to zero within a predetermined finite time. Stability is proven through the Lyapunov theorem without computational burden. Finally, the numerical simulation results validate the effectiveness and robustness of the proposed controllers.