Abstract
This article studies the fast path tracking problem for nonholonomic mobile robots with unknown slipping and skidding. Firstly, considering the steering problem, a new mathematical model of nonholonomic mobile robot is derived. Secondly, to estimate the unknown slipping and skidding of a nonholonomic mobile robot quickly and accurately, new predefined time observers, which can attain a predefined settling time, are established. Thirdly, based on the observers and the sliding mode approaches, predefined time active controllers are proposed to achieve high precision control performance of the nonholonomic mobile robot tracking. The method proposed in this article can achieve uniformly global stability within a predefined time, which makes the adjustment of the convergence time of the nonholonomic mobile robot easier and convenient. Finally, the simulation results validated the theoretical results.
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