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Research Article |

Design of Sliding Mode Controller Integrated with Nonlinear Disturbance Observer and Radial Basis Function Neural Network for Trajectory Tracking of DDMRs Considering Terrain Factor

Author(s): Nguyen Van Tien1*, Do Khac Tiep2

Published In : International Journal of Electrical and Electronics Research (IJEER)        Volume 14, Issue 1

Publisher : FOREX Publication

Published : 30 March 2026

e-ISSN : 2347-470X

Page(s) : 242-253

DOI: https://doi.org/10.37391/IJEER.140125

Abstract

This paper presents a robust control design method for Differential Drive Mobile Robots (DDMR) to address the trajectory tracking problem under conditions of disturbances and uncertainties, specifically focusing on terrain-induced variations. The proposed controller utilizes Sliding Mode Control (SMC) to ensure robustness and fast response. To mitigate the inherent chattering phenomenon of SMC and enhance tracking accuracy, two disturbance observers are designed and integrated into the system: A Nonlinear Disturbance Observer (NDO) and a Neural Network Observer (NNO) using Radial Basis Functions (RBF). These observers are tasked with estimating aggregate disturbances, including friction, model uncertainties, and terrain effects, thereby effectively compensating the control signal. This approach allows for a reduction in the switching gain of the SMC, resulting in improved control quality. Simulation results demonstrate that the SMC-NDO-NNO controller significantly improves control performance even in the presence of uncertain disturbances and substantially reduces chattering.

Keywords: Mobile Robot, Nonlinear Disturbance Observer, Sliding Mode Control, Robust Control, Trajectory Tracking.




Nguyen Van Tien, Faculty of Electrical and Electronic Engineering, Vietnam Maritime University, Haiphong, Vietnam; Email: nguyenvantien@vimaru.edu.vn

Do Khac Tiep, Faculty of Electrical and Electronic Engineering, Vietnam Maritime University, Haiphong, Vietnam; Email: dokhactiep@vimaru.edu.vn

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Nguyen Van Tien, Do Khac Tiep (2026), Design of Sliding Mode Controller Integrated with Nonlinear Disturbance Observer and Radial Basis Function Neural Network for Trajectory Tracking of DDMRs Considering Terrain Factor. IJEER 14(1), 242-253. DOI: 10.37391/IJEER.140125.