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Prescribed-time zero-error active disturbance rejection control for uncertain wheeled mobile robots subject to skidding and slipping

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  • Zhichen Li
  • Yu Zhao
  • Huaicheng Yan
  • Meng Wang
  • Lu Zeng

Abstract

This paper investigates the prescribed-time control problem for a class of wheeled mobile robot (WMR) subject to nonparametric skidding, slipping and input disturbance in an inner-outer loop framework. First, by backstepping approach, the virtual linear and angular velocities are acquired to follow the reference path to one special point. Then, different from the conventional ones for canonical integral cascade model, a novel prescribed-time extended state observer (PTESO) is designed for WMR such that the unknown skidding and slipping can be observed and compensated. By developing the active disturbance rejection control technique, the zero-error control is achieved for WMR in prescribed time instead of ultimately uniform boundedness. Moreover, the influence of the uncertainty is attenuated by the compensation scheme based on the PTESO estimation. Finally, some simulation results are presented to demonstrate the superiority and effectiveness of the developed method.

Suggested Citation

  • 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.
    • Handle: RePEc:taf:tsysxx:v:54:y:2023:i:6:p:1313-1329
    DOI: 10.1080/00207721.2023.2177898
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    Cited by:

    1. 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.

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