Fixed-time Trajectory Tracking Control of a Wheeled Mobile Robot

Abstract

This work investigates the fixed-time trajectory tracking control problem of a wheeled mobile robot (WMR) under external disturbances. Firstly, the dynamic error system of the WMR is transformed into a second-order attitude error subsystem and a third-order position error subsystem, respectively. Subsequently, the super-twisting-like algorithms are proposed for the trajectory tracking of the WMR, and the fixed-time stability of the two subsystems are guaranteed. Finally, the effectiveness of the proposed control schemes is demonstrated by simulation and experiment results.