Fixed-time trajectory tracking control of a wheel mobile robot
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.
wheeled mobile robotfixed-time stabilitysliding model controldisturbance observertrajectory tracking
万方数据
维普
