Abstract
In this paper, a robust finite-time tracking control scheme is proposed for wheeled mobile robots with parametric uncertainties and disturbances. To eliminate the effect of lumped uncertainties, a nonlinear extended state observer (NESO) is employed to estimate the unknown states as well as uncertainties, and the corresponding coefficients are tuned via pole placement technique. Based on the observation values, the finite-time sliding mode controller is presented to guarantee that both the sliding mode variables and tracking errors converge to zero within finite time. Simulation results are given to demonstrate the effectiveness of the proposed control method.
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