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Robust Finite-Time Trajectory Tracking Control of Wheeled Mobile Robots with Parametric Uncertainties and Disturbances

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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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Authors and Affiliations

  1. College of Information Engineering, Zhejiang University of Technology, Hangzhou, 310023, China

    Yijun Guo, Li Yu & Jianming Xu

Authors
  1. Yijun Guo
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  2. Li Yu
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  3. Jianming Xu
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Corresponding author

Correspondence to Yijun Guo.

Additional information

This research was supported by the National Natural Science Foundation of China under Grant No. 61673351 and the Zhejiang Provincial Natural Science Foundation of China under Grant No. LZ15030003.

This paper was recommended for publication by Editor HU Xiaoming.

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Guo, Y., Yu, L. & Xu, J. Robust Finite-Time Trajectory Tracking Control of Wheeled Mobile Robots with Parametric Uncertainties and Disturbances. J Syst Sci Complex 32, 1358–1374 (2019). https://doi.org/10.1007/s11424-019-7235-z

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  • DOI: https://doi.org/10.1007/s11424-019-7235-z

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