Finite-time Trajectory Tracking Control of A Wheel Mobile Robot based on Integral Terminal Sliding Mode

摘要

This work investigates the finite-time trajectory tracking control problem for A Wheel Mobile Robot (WMR) subject to external disturbances. More specifically, a finite-time disturbance observer is first proposed by utilizing a continuous function tanh(·) to estimate the external disturbances. Furthermore, a novel integral terminal sliding mode based fixed-time controller is proposed by incorporating a smooth adaptive law. The adaptive law is designed to estimate the upper bound of the observation errors. Then, rigorous Lyapunov theory analyses demonstrate that the tracking errors will converge to a small neighborhood of the origin in fixed-time. Finally, numerical simulation results are presented to illustrate that the WMR can successfully accomplish the tracking task by utilizing the proposed control schemes.