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“…When the kinematics of the mechanical structure and the dynamics of the actuators are considered in control design, the performance of a wheeled mobile robot (WMR) is significantly improved [30][31][32]. In this direction, Márquez-Sánchez et al in [33] reported and implemented on an embedded hardware a two-level tracking control composed by a kinematic control for the mechanical structure and a PI control for the actuators.…”
Section: Kinematics Of the Mechanical Structure Plus Dynamics Of The mentioning
“…It is worth mentioning that the design of the average controls Equations (32) and (33) is based on the average mathematical model of the Buck power converter Equation (20). Consequently, the corresponding switched implementation u r and u l is carried out through the following Σ − ∆-modulators:…”
Section: Dynamic Three-level Tracking Controllermentioning
“…As compared with asymptotical control, the fixed-time control technique is more robust to tolerant the uncertainties [7], [8], [25], [31]. Many of the above approaches can deal with different nonlinear systems: robotic manipulator [21], [23]- [26], [31], marine surface vehicles [22], [27], generalized vehicle [30]. Each approach owns its drawbacks and advantages.…”
Section: Introductionmentioning
“…Although the proposed observer can estimate the disturbance accurately, the convergence time depends on the initial states of the system that are usually unavailable in advance. This means the convergence time of finite‐time control systems can grow arbitrarily as the initial states deviate too far from the equilibrium, making the methods unrealistic for practical use …”
Section: Introductionmentioning
“…This means the convergence time of finite-time control systems can grow arbitrarily as the initial states deviate too far from the equilibrium, making the methods unrealistic for practical use. [14][15][16][17][18] Recently, a few interesting results in the area of multiagent systems may give new hints to us. [19][20][21] They use the notion of fixed-time stability 22 that implies guaranteed settling time regardless of the initial conditions.…”
Section: Introductionmentioning