Abstract
In this article, a finite-time global trajectory tracking control is proposed for a class of uncertain wheeled mobile robot systems. It could ensure that the system output tracks the desired trajectory within finite-time. Combined with the dynamic model, the tracking error model is decomposed into an angular velocity error subsystem and a position error subsystem. The finite-time theory is applied to the design of finite-time control law and the stability analysis for the angular velocity error subsystem. Moreover, Backstepping technology is introduced into the position error subsystem. In addition, Fuzzy Logic Systems (FLSs) are investigated to approximate system's unknown smooth function. Theoretical analysis shows that all signals are bounded, and the system has global progressive stability. The simulation verifies the effectiveness of the proposed method.
Highlights
As the difficulty and performance requirements of robots performing tasks increase, people have higher expectations for mobile robots to work quickly and steadily in unknown complex environments
CONTROLLER DESIGN AND STABILITY ANALYSIS Consider the dynamic model of wheeled mobile robot, the tracking error model is decomposed into angular velocity error subsystem and position error subsystem. θe and ω are the state variables of the angular velocity error system, And xe and ye are the state variables of the position error system
Considering the dynamic model of wheeled mobile robot, the tracking error model is decomposed into angular velocity error subsystem and position error subsystem, and the two error subsystems are designed with controllers respectively
Summary
As the difficulty and performance requirements of robots performing tasks increase, people have higher expectations for mobile robots to work quickly and steadily in unknown complex environments. Motivated by the observations above, a finite-time global trajectory tracking control for uncertain wheeled mobile robots is proposed. In this article, considering the finite-time stability issue, a finite-time global trajectory tracking control for uncertain wheeled mobile robots is investigated. This remaining parts of this article will be structured later. Based on the dynamic model and tracking error model of wheeled mobile robot, this article presents an anti-interference finite-time stable trajectory tracking control method. CONTROLLER DESIGN AND STABILITY ANALYSIS Consider the dynamic model of wheeled mobile robot, the tracking error model is decomposed into angular velocity error subsystem and position error subsystem.
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