Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Fixed-time tracking control for nonholonomic mobile robot

“…According to transformation (18), we only need to prove that e j = 0(j = 1, 2) in a fixed time. Based on Theorem 3.1, we can obtain that θ e (t) = 0 in a fixed time T θ .…”

“…In reality, it is of particular interest to realise the control system in a finite time to meet specifc system requirement. Therefore, finite-time control problems draw some researchers' attention [2,6,12,18,26]. At present, many meaningful finite-time tracking control results for nonholonomic mobile robot systems have been reported in the literature [14,20,24,27] and the references therein.…”

Global output-feedback finite-time stabilization for a class of stochastic nonlinear cascaded systems

“…, n − 1 to be determined later. Based on the estimated states, we design an output feedback control law of the form (24) whereẑ = (z 1 ,ẑ 2 , . .…”

“…, η n ) T . Moreover, the closed-loop system composed by (12), (23) and (24) can be written as the following compact form dZ = Ξ(Z) dt = (z 2 , . .…”

“…Compared with smooth control methods, the closed-loop systems under nonsmooth control law usually demonstrates faster convergence rate, higher control precision as well as better disturbance rejection properties [12,29]. In view of these advantages, nonsmooth control methods have recently received a lot of attentions [7,11,12,18], and have been successfully used in practical systems [3,5,6,7,8,9,24,26,27,28,31]. Recently, the definition of finite-time stability and the finite-time stability theorem for SNS were proposed in [36].…”