Adaptive Fixed-Time Tracking Control for Nonholonomic Wheeled Mobile Robot with External Disturbances

Abstract

In this paper, the fixed-time tracking control problem for a nonholonomic wheeled mobile robot (NWMR) with external disturbances is studied. Firstly, a fixed-time kinematic controller is crafted through the application of linear transfor-mation and the fixed-time theory method, that is, a designed auxiliary linear and angular velocity enables NWMR to track the trajectory of the virtual leader in a fixed time. Then, a continuous adaptive fixed-time tracking controller is designed for NWMR with external disturbances such that the NWMR is able to track the auxiliary velocity in a fixed time. So it can realize the position tracking control of the robot in a fixed time. ultimately, the numerical simulations are presented to show the effectiveness of the controller.