文献类型：期刊文献

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

作者：Li, Zhichen[1,3];Zhao, Yu[1];Yan, Huaicheng[1];Wang, Meng[1];Zeng, Lu[2]

机构：[1]East China Univ Sci & Technol, Sch Informat Sci & Engn, Shanghai, Peoples R China;[2]Fudan Univ, Acad Engn & Technol, Shanghai, Peoples R China;[3]East China Univ Sci & Technol, Sch Informat Sci & Engn, Shanghai 200237, Peoples R China

年份：2023

卷号：54

期号：6

起止页码：1313

外文期刊名：INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE

收录：;EI(收录号：20231313806560);WOS:【SCI-EXPANDED(收录号:WOS:000952302000001)】；

基金：This work was supported by the National Natural Science Foundationof China (62173146, 62073143, 61922063, 62003139), Foundation of Key Laboratory of System Control and Information Processing, Ministry of Education,P. R. China (Scip202208), Shanghai Natural Science Foundation (22ZR1416200, 20ZR1415200), and the Innovation Program of Shanghai MunicipalEducation Commission (2021-01-07-00-02-E00107).

语种：英文

外文关键词：Prescribed-time control; prescribed-time extended state observer(PTESO); wheeled mobile robot

摘要：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.