Adaptive trajectory tracking of wheeled mobile robot based on fixed-time convergence with uncalibrated camera parameters

Pengfei Guo; Zhenying Liang; Xi Wang; Mingwen Zheng

doi:10.1016/j.isatra.2019.09.021

Adaptive trajectory tracking of wheeled mobile robot based on fixed-time convergence with uncalibrated camera parameters

ISA Trans. 2020 Apr:99:1-8. doi: 10.1016/j.isatra.2019.09.021. Epub 2019 Oct 4.

Authors

Pengfei Guo¹, Zhenying Liang², Xi Wang¹, Mingwen Zheng¹

Affiliations

¹ School of Mathematics and Statistics, Shandong University of Technology, Zibo 255000, China.
² School of Mathematics and Statistics, Shandong University of Technology, Zibo 255000, China. Electronic address: lzhenying@sdut.edu.cn.

PMID: 31607384
DOI: 10.1016/j.isatra.2019.09.021

Abstract

The problem of fixed-time trajectory tracking control for a wheeled mobile robot with uncalibrated camera parameters is considered. The fixed-time adaptive trajectory tracking control laws are developed. Firstly, the dynamics mode of robot system with unknown parameters is introduced and the tracking error system is given. Secondly, the problem of trajectory tracking is transformed into the problem of fixed-time stabilization for the error system by using the state and input transformations. Then, the fixed-time controller is designed based on nonsingular recursive terminal sliding mode control method, which enables the actual system to track the reference trajectory in fixed time. Finally, the simulation examples verify the validity of the conclusions.

Keywords: Adaptive control; Fixed-time stabilization; Sliding mode surfaces; Tracking control.