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Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots

Author

Listed:
  • Lixiong Lin

    (Xiamen Key Laboratory of Marine Intelligent Terminal R&D and Application, School of Ocean Information Engineering, Jimei University, Xiamen 361021, China
    These authors contributed equally to this work.)

  • Zhiping Xu

    (Xiamen Key Laboratory of Marine Intelligent Terminal R&D and Application, School of Ocean Information Engineering, Jimei University, Xiamen 361021, China
    These authors contributed equally to this work.)

  • Jiachun Zheng

    (Xiamen Key Laboratory of Marine Intelligent Terminal R&D and Application, School of Ocean Information Engineering, Jimei University, Xiamen 361021, China
    These authors contributed equally to this work.)

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.

Suggested Citation

  • Lixiong Lin & Zhiping Xu & Jiachun Zheng, 2023. "Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots," Mathematics, MDPI, vol. 11(12), pages 1-21, June.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:12:p:2704-:d:1171246
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    References listed on IDEAS

    as
    1. Lili Wu & Dongyun Wang & Chunwei Zhang & Ardashir Mohammadzadeh, 2022. "Chaotic Synchronization in Mobile Robots," Mathematics, MDPI, vol. 10(23), pages 1-15, December.
    2. Yung-Hsiang Chen & Yung-Yue Chen, 2022. "Trajectory Tracking Design for a Swarm of Autonomous Mobile Robots: A Nonlinear Adaptive Optimal Approach," Mathematics, MDPI, vol. 10(20), pages 1-21, October.
    3. Zhichen Li & Yu Zhao & Huaicheng Yan & Meng Wang & Lu Zeng, 2023. "Prescribed-time zero-error active disturbance rejection control for uncertain wheeled mobile robots subject to skidding and slipping," International Journal of Systems Science, Taylor & Francis Journals, vol. 54(6), pages 1313-1329, April.
    4. Mario Ramírez-Neria & Jaime González-Sierra & Alberto Luviano-Juárez & Norma Lozada-Castillo & Rafal Madonski, 2022. "Active Disturbance Rejection Strategy for Distance and Formation Angle Decentralized Control in Differential-Drive Mobile Robots," Mathematics, MDPI, vol. 10(20), pages 1-19, October.
    5. Alexandru Matei & Stefan-Alexandru Precup & Dragos Circa & Arpad Gellert & Constantin-Bala Zamfirescu, 2023. "Estimating Travel Time for Autonomous Mobile Robots through Long Short-Term Memory," Mathematics, MDPI, vol. 11(7), pages 1-19, April.
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    Cited by:

    1. Zhongcai Zhang & Xueli Hu & Yang Gao & Xiaodan Hou, 2023. "Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach," Mathematics, MDPI, vol. 12(1), pages 1-19, December.
    2. Yuan Li & Yuyang Cai & Yong Wang & Wei Li & Gang Wang, 2024. "Simultaneous Tracking and Stabilization of Nonholonomic Wheeled Mobile Robots under Constrained Velocity and Torque," Mathematics, MDPI, vol. 12(13), pages 1-17, June.
    3. Octavian Alexa & Ticușor Ciobotaru & Lucian Ștefăniță Grigore & Teodor Lucian Grigorie & Amado Ștefan & Ionica Oncioiu & Iustin Priescu & Cristina Vlădescu, 2023. "A Review of Mathematical Models Used to Estimate Wheeled and Tracked Unmanned Ground Vehicle Kinematics and Dynamics," Mathematics, MDPI, vol. 11(17), pages 1-20, August.

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