This paper investigates finite-time tracking control problem of multiple nonholonomic mobile robots in dynamic model with external disturbances, where a kind of finite-time disturbance observer (FTDO) is introduced to estimate the external disturbances for each mobile robot. First of all, the resulting tracking error dynamic is transformed into two subsystems, i. e., a third-order subsystem and a second-order subsystem for each mobile robot. Then, the two subsystem are discussed respectively, continuous...
This paper is devoted to design sliding mode controller for continuous-time Markov jump systems with interval time-varying delays and general transition probabilities. An integral sliding surface is constructed and its reachability is guaranteed via a sliding mode control law. Meanwhile, a linearisation strategy is applied to treat the nonlinearity induced by general transition probabilities. Using a separation method based on Finsler lemma to eliminate the coupling among Lyapunov variables and...
This paper investigates the fixed-time trajectory tracking control problem for a nonholonomic mobile robot. Firstly, the tracking error system is derived for the mobile robot by the aid of a global invertible transformation. Then, based on the unified error dynamics and by using the fixed-time control method, continuous fixed-time tracking controllers are developed for the mobile robot such that the robot can track the desired trajectory in a fixed time. Moreover, the settling time is independent...
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