TY - GEN
T1 - Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot
AU - Wang, Chenghu
AU - Li, Bo
AU - Zhang, Haichao
AU - Xiao, Bing
AU - Gong, Wenquan
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This work investigates the fixed-time trajectory tracking control problem of a wheeled mobile robot (WMR) under external disturbances. Firstly, the dynamic error system of the WMR is transformed into a second-order attitude error subsystem and a third-order position error subsystem, respectively. Subsequently, the super-twisting-like algorithms are proposed for the trajectory tracking of the WMR, and the fixed-time stability of the two subsystems are guaranteed. Finally, the effectiveness of the proposed control schemes is demonstrated by simulation and experiment results.
AB - This work investigates the fixed-time trajectory tracking control problem of a wheeled mobile robot (WMR) under external disturbances. Firstly, the dynamic error system of the WMR is transformed into a second-order attitude error subsystem and a third-order position error subsystem, respectively. Subsequently, the super-twisting-like algorithms are proposed for the trajectory tracking of the WMR, and the fixed-time stability of the two subsystems are guaranteed. Finally, the effectiveness of the proposed control schemes is demonstrated by simulation and experiment results.
KW - Fixed-time control
KW - Super-twisting-like algorithm
KW - Trajectory tracking control
KW - Wheeled mobile robot
UR - http://www.scopus.com/inward/record.url?scp=85125581047&partnerID=8YFLogxK
U2 - 10.1109/INDIN45523.2021.9557430
DO - 10.1109/INDIN45523.2021.9557430
M3 - 会议稿件
AN - SCOPUS:85125581047
T3 - IEEE International Conference on Industrial Informatics (INDIN)
BT - Proceedings - 2021 IEEE 19th International Conference on Industrial Informatics, INDIN 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th IEEE International Conference on Industrial Informatics, INDIN 2021
Y2 - 21 July 2021 through 23 July 2021
ER -