Fixed-Time Fractional-Order Global Sliding Mode Control for Nonholonomic Mobile Robot Systems under External Disturbances

摘要

The present study addresses the problem of fixed-time stabilization (FTS) of mobile robots (MRs). The study’s distinguishing aspects are that the system under examination is subjected to external disturbances, and the system states are pushed to zero in a finite time. This paper suggests new control techniques for chained-form nonholonomic systems (CFNS) subjected to disturbances. First, a switching fractional-order (FO) control approach is proposed for a first-order subsystem (FOS) of an MR under complex disturbances. Secondly, an FO generic global sliding mode control approach is designed for the second-order system (SOS) of the MR in the presence of disturbances. The suggested sliding manifold for the SOS of the MR guarantees global system stability and reduces the chattering problem during control operations. A conventional quadratic Lyapunov function (QLF) is used to converge to the origin in a finite time (FnT). Through this study, a stabilizer for an MR in the presence of disturbances based on an FO switching time-varying controller that can stabilize immeasurable states in a fixed time is proposed. Finally, three case simulations are provided to demonstrate the efficacy of the control strategy proposed in this work against external disturbances.