2026-10-14T06:48:52Z https://api.figshare.com/v2/oai

oai:figshare.com:article/34057554 2026-10-02T17:24:48Z category_146 category_39 category_734 category_931 category_811 category_64 category_106 portal_5 item_type_3 month_year_10_2026

<p>Maximum Cross-Track error.</p> Amin Danial Asham (25303077) Space Science Ecology Biological Sciences not elsewhere classified Information Systems not elsewhere classified Mathematical Sciences not elsewhere classified Cancer Science Policy nonlinear kinematic model derived error model sliding mode controller widely used approach div >< p tracking error derived proposed control system differential drive robot tracking error proposed controller proposed technique tracking system typically controlled tight maneuvers sharp turns robot dynamics paper introduces new approach examined cases exact parameters drive robots drive robot directional discontinuity continuous curve autonomous differential also investigated <div><p>Autonomous differential-drive robots are typically controlled to follow a desired path. This path may be defined by a continuous curve or set of waypoints. Few studies have examined cases in which a path is defined by an arbitrary set of waypoints. This paper introduces a new approach to a path-tracking system for an arbitrary set of waypoints using a <i>sliding mode control</i> (SMC) system. This approach is based on a nonlinear kinematic model of the tracking error derived in this research for a differential-drive robot. Based on the derived error model, a sliding mode controller is introduced to drive the tracking error to zero. The stability of the system was also investigated. In addition, the effects of robot dynamics were incorporated into the proposed controller without prior knowledge of the exact parameters of the robot. Simulations were conducted to compare the proposed control system with a widely used approach to demonstrate the effectiveness of the proposed controller in tight maneuvers, particularly at directional discontinuity and/or sharp turns. The proposed technique was verified through real-time experimental tests using a differential drive robot.</p></div> 2026-10-02T17:24:08Z Dataset Dataset 10.1371/journal.pone.0357979.t002 https://figshare.com/articles/dataset/_p_Maximum_Cross-Track_error_p_/34057554 CC BY 4.0