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Updated: Jan 12, 2026
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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
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Integral terminal sliding mode-based adaptive driving control method of tracked robots
Zhiqiang Li1, Kun Luo1, Liang Tao1
1School of Mechanical Engineering, Tongling University, Tongling, China.
Frontiers in Plant Science
|November 6, 2025
Summary
This study introduces an adaptive control strategy for tracked robots (TR) operating on challenging terrains. The new method enhances driving control precision and robustness in complex outdoor environments.
Area of Science:
- Robotics
- Control Systems Engineering
- Soil Mechanics
Background:
- Tracked robots (TR) offer stability and adaptability for field applications.
- Robot-terrain interaction on soft or uneven ground causes disturbances, challenging precise driving control.
Purpose of the Study:
- To develop an adaptive control strategy for improving the driving precision and robustness of tracked robots in complex terrains.
- To address the challenges posed by robot-terrain interaction dynamics in outdoor applications.
Main Methods:
- Established disturbance models using Bekker pressure-sinkage and Janosi shear theories to understand robot-terrain interaction.
- Introduced an adaptive integral terminal sliding mode (AITSM) control method for enhanced system performance.
Main Results:
- The proposed AITSM control method demonstrated superior performance and robustness in real-world scenarios.
- Experimental validation confirmed the effectiveness of the adaptive control strategy for tracked robots.
Conclusions:
- The study provides an effective solution for improving the driving control of tracked robots in outdoor environments.
- The proposed framework can be applied to various intelligent field machinery, including agricultural and exploration robots.
Keywords:
adaptive integral terminal sliding modedriving controlfield applicationstracked robotuncertain disturbanceMore Related Videos
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