Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot

Chenghu Wang; Bo Li; Haichao Zhang; Bing Xiao; Wenquan Gong

doi:10.1109/INDIN45523.2021.9557430

Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot

Chenghu Wang, Bo Li, Haichao Zhang, Bing Xiao, Wenquan Gong

School of Automation

Shanghai Maritime University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

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.

Original language	English
Title of host publication	Proceedings - 2021 IEEE 19th International Conference on Industrial Informatics, INDIN 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728143958
DOIs	https://doi.org/10.1109/INDIN45523.2021.9557430
State	Published - 2021
Event	19th IEEE International Conference on Industrial Informatics, INDIN 2021 - Mallorca, Spain Duration: 21 Jul 2021 → 23 Jul 2021

Publication series

Name	IEEE International Conference on Industrial Informatics (INDIN)
Volume	2021-July
ISSN (Print)	1935-4576

Conference

Conference	19th IEEE International Conference on Industrial Informatics, INDIN 2021
Country/Territory	Spain
City	Mallorca
Period	21/07/21 → 23/07/21

Keywords

Fixed-time control
Super-twisting-like algorithm
Trajectory tracking control
Wheeled mobile robot

Access to Document

10.1109/INDIN45523.2021.9557430

Cite this

Wang, C., Li, B., Zhang, H., Xiao, B., & Gong, W. (2021). Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot. In Proceedings - 2021 IEEE 19th International Conference on Industrial Informatics, INDIN 2021 (IEEE International Conference on Industrial Informatics (INDIN); Vol. 2021-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INDIN45523.2021.9557430

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title = "Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot",

abstract = "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.",

keywords = "Fixed-time control, Super-twisting-like algorithm, Trajectory tracking control, Wheeled mobile robot",

author = "Chenghu Wang and Bo Li and Haichao Zhang and Bing Xiao and Wenquan Gong",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 19th IEEE International Conference on Industrial Informatics, INDIN 2021 ; Conference date: 21-07-2021 Through 23-07-2021",

year = "2021",

doi = "10.1109/INDIN45523.2021.9557430",

language = "英语",

series = "IEEE International Conference on Industrial Informatics (INDIN)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "Proceedings - 2021 IEEE 19th International Conference on Industrial Informatics, INDIN 2021",

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Wang, C, Li, B, Zhang, H, Xiao, B & Gong, W 2021, Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot. in Proceedings - 2021 IEEE 19th International Conference on Industrial Informatics, INDIN 2021. IEEE International Conference on Industrial Informatics (INDIN), vol. 2021-July, Institute of Electrical and Electronics Engineers Inc., 19th IEEE International Conference on Industrial Informatics, INDIN 2021, Mallorca, Spain, 21/07/21. https://doi.org/10.1109/INDIN45523.2021.9557430

Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot. / Wang, Chenghu; Li, Bo; Zhang, Haichao et al.
Proceedings - 2021 IEEE 19th International Conference on Industrial Informatics, INDIN 2021. Institute of Electrical and Electronics Engineers Inc., 2021. (IEEE International Conference on Industrial Informatics (INDIN); Vol. 2021-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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

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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 -

Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot

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