Finite-Time Global Trajectory Tracking Control for Uncertain Wheeled Mobile Robots

摘要

In this article, a finite-time global trajectory tracking control is proposed for a class of uncertain wheeled mobile robot systems. It could ensure that the system output tracks the desired trajectory within finite-time. Combined with the dynamic model, the tracking error model is decomposed into an angular velocity error subsystem and a position error subsystem. The finite-time theory is applied to the design of finite-time control law and the stability analysis for the angular velocity error subsystem. Moreover, Backstepping technology is introduced into the position error subsystem. In addition, Fuzzy Logic Systems (FLSs) are investigated to approximate system's unknown smooth function. Theoretical analysis shows that all signals are bounded, and the system has global progressive stability. The simulation verifies the effectiveness of the proposed method.