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.
关键词
轮式移动机器人/固定时间稳定/滑模控制/干扰观测器/轨迹跟踪
Key words
wheeled mobile robot/fixed-time stability/sliding model control/disturbance observer/trajectory tracking
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