Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots

Lixiong Lin, Zhiping Xu () and Jiachun Zheng
Additional contact information
Lixiong Lin: Xiamen Key Laboratory of Marine Intelligent Terminal R&D and Application, School of Ocean Information Engineering, Jimei University, Xiamen 361021, China
Zhiping Xu: Xiamen Key Laboratory of Marine Intelligent Terminal R&D and Application, School of Ocean Information Engineering, Jimei University, Xiamen 361021, China
Jiachun Zheng: Xiamen Key Laboratory of Marine Intelligent Terminal R&D and Application, School of Ocean Information Engineering, Jimei University, Xiamen 361021, China

Mathematics, 2023, vol. 11, issue 12, 1-21

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.

Keywords: predefined time observer; backstepping design; sliding mode approach; nonholonomic mobile robot (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (4)

Downloads: (external link)
https://www.mdpi.com/2227-7390/11/12/2704/pdf (application/pdf)
https://www.mdpi.com/2227-7390/11/12/2704/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:11:y:2023:i:12:p:2704-:d:1171246

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().