Mojtaba Naderi Soorki

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.

1. Introduction Today, as a result of the increasing demand for assistive technologies, interest in expanding portable rehabilitation systems has increased [1,2]. The knee joint arthrosis, referred to by various terms in the literature such as lower limb exoskeleton, shank arthrosis system, or knee rehabilitation robot, serves predominantly to facilitate the rehabilitation of individuals afflicted by impaired limb functionality at the knee joint level.

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