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Finite time tracking control of a nonholonomic mobile robot with external disturbances. (English) Zbl 1265.68291
Summary: The finite time tracking control problem of a nonholonomic wheeled mobile robot in a dynamic model with external disturbances is studied, where a finite time disturbance observer is introduced to estimate external disturbances. Firstly, the resulting tracking error dynamics is transformed into two subsystems, i.e., a third-order subsystem and a second-order subsystem, for the mobile robot. Secondly, the two subsystems are discussed. A continuous finite time disturbance observer and finite time tracking control laws are given for the mobile robot. Rigorous proofs show that the mobile robot can track the desired trajectory in finite time. A simulation illustrates the effectiveness of our method.

68T40 Artificial intelligence for robotics
93C85 Automated systems (robots, etc.) in control theory
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