The system studied in this research is a nonholonomic wheeled mobile robot (WMR) with three degrees of freedom (3-DOF). The goal is to design a fast end-sliding mode control for positioning and stabilizing the system's forward motion and angle. The methodology involves formulating the system's dynamic equations using Newton-Euler equations and then converting them into state-space form. The designed controller is then applied to the system, and external random noise disturbances are introduced via MATLAB simulations to evaluate the system's robustness against uncertainties and disturbances.
Ali et al. (Thu,) studied this question.