Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 30, Issue 2, Pages 844-851Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2021.3069831
Keywords
Observers; Convergence; Mobile robots; Kinematics; Uncertainty; Estimation error; Stability criteria; Distributed observer (DO); extended state observer (ESO); fixed-time formation control; wheeled mobile robot (WMR)
Funding
- National Natural Science Foundation of China [61773281, 61933014]
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A fixed-time control approach is investigated for the leader-follower formation tracking issue of wheeled mobile robots with prescribed performance. Experimental results demonstrate the validation of the proposed method.
A fixed-time control approach is investigated for the leader-follower formation tracking issue of wheeled mobile robots (WMRs) with prescribed performance in this brief. The nonlinear and underactuated model of the WMR is first transformed into a linear one with uncertainties and external disturbances. Then, a time-varying fixed-time extended state observer is developed to observe the total disturbance. Furthermore, a time-varying fixed-time distributed observer is constructed to estimate the state of the leader. Finally, a novel fixed-time prescribed performance strategy is presented to achieve the formation tracking. Experimental results demonstrate the validation of the proposed method.
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