Fixed-time trajectory tracking control of a wheel mobile robot

被引：0

作者：

Li B. ^{[1
]}

Wang C.-H. ^{[1
]}

Ma L. ^{[1
]}

Zhang H.-C. ^{[2
]}

机构：

[1] Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai

[2] School of Automation, Northwestern Polytechnical University, Xi’an

来源：

Kongzhi yu Juece/Control and Decision | 2024年 / 39卷 / 03期

关键词：

disturbance observer; fixed-time stability; sliding model control; trajectory tracking; wheeled mobile robot;

D O I：

10.13195/j.kzyjc.2022.1197

中图分类号：

学科分类号：

摘要：

This work investigates the problem of fixed-time trajectory tracking control for a nonholonomic wheeled mobile robot (WMR) under the external disturbance. The novel integral sliding mode surface (ISMS) based fixed-time kinematic velocity controllers are first designed for the kinematic error model of the WMR, which can guarantee the tracking errors converge to the small neighborhoods of origin in a fixed time. Subsequently, a continuous fixed-time disturbance observer is developed to estimate the external disturbance for the dynamic model of the WMR. Then, a trajectory tracking controller is designed based on the ISMS to ensure the fixed-time stability of the dynamic system, which achieves the high precision trajectory tracking control of the WMR. Finally, the simulation results illustrate the effectiveness and superiority of the proposed approach. © 2024 Northeast University. All rights reserved.

引用

页码：845 / 852

页数：7

共 31 条

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