Robust Arbitrary-Time Path-Tracking Control Using Reduced Order Kinematic Model for Unmanned Ground Vehicles

Abstract

In this paper, we propose a robust arbitrary-Time path tracking control using reduced order kinematic model for the unmanned ground vehicle. The proposed method consists of the robust arbitrary-Time convergence control and fixed-Time super-Twisting observer for the kinematic model, and the fixed-Time super-Twisting controller of the dynamic model. To apply the robust arbitrary-Time convergence control to the unmanned ground vehicle, the reduced order kinematic model is developed to move the sensor location to the origin through coordinate transformation. The robust arbitrary-Time convergence control is designed to obtain the arbitrary-Time convergence and the robustness for the kinematic model. When the tracking errors exceed the predefined error boundary after the predefined arbitrary-Time, the tracking errors can converge to zero within predefined arbitrary-Time by the switching rule. The fixed-Time super-Twisting observer is designed to estimate the lumped disturbance for the kinematics model. The fixed-Time super-Twisting controller is developed for the dynamic model. © 2000-2011 IEEE.