Research on UGV Formation Based on Fixed-Time Sliding Mode Control

Abstract

A fixed-time sliding mode control (FSMC) method is proposed for the trajectory tracking control of the Unmanned Ground Vehicle (UGV) formation under the influence of factors such as uncertainty and random interference. Firstly, the UGV kinematics model is transformed into a leader-follower formation model. Secondly, a fixed-time sliding mode controller is designed based on the leader-follower formation mode and backstepping control. Numerical simulation shows that the proposed FSMC ensures that the sliding variable and the tracking errors converges to the origin within a fixed time, and the upper bound of the convergence time is only related to the system control parameters. FSMC has the faster convergence, rate shorter convergence time and good robustness.