Robust finite-time trajectory tracking control of wheeled mobile robots with parametric uncertainties and disturbances

DOI10.1007/S11424-019-7235-ZzbMath1423.93099OpenAlexW2981188699WikidataQ127018010 ScholiaQ127018010MaRDI QIDQ2330369

Jianming Xu, Yijun Guo, L. Yu

Publication date: 22 October 2019

Published in: Journal of Systems Science and Complexity (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11424-019-7235-z

zbMATH Keywords

wheeled mobile robottrajectory trackingfinite-time sliding mode controlnonlinear extended state observer

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Pole and zero placement problems (93B55) Variable structure systems (93B12)

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A second-order sliding mode controller of quad-rotor UAV based on PID sliding mode surface with unbalanced load ⋮ Robust nonsingular fixed time terminal sliding mode control for atmospheric pollution detection lidar scanning mechanism ⋮ A nonlinear optimal control approach for tracked mobile robots ⋮ Nonlinear model predictive control-based guidance algorithm for quadrotor trajectory tracking with obstacle avoidance

Cites Work

• Extended state observer-based adaptive sliding mode control of differential-driving mobile robot with uncertainties
• Finite-time control for robot manipulators
• Autonomous spacecraft rendezvous with finite time convergence
• Finite-time neural funnel control for motor servo systems with unknown input constraint
• Finite-time formation control of multiple nonholonomic mobile robots

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