A novel fixed-time prescribed performance sliding mode control for uncertain wheeled mobile robots
Abstract This paper proposes a novel fixed-time prescribed performance sliding mode control method, specifically designed to address trajectory tracking issues in wheeled mobile robots (WMRs) affected by wheel slipping, skidding (WSS), and external disturbances. A new prescribed performance sliding...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2025-02-01
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| Series: | Scientific Reports |
| Subjects: | |
| Online Access: | https://doi.org/10.1038/s41598-025-89126-6 |
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| Summary: | Abstract This paper proposes a novel fixed-time prescribed performance sliding mode control method, specifically designed to address trajectory tracking issues in wheeled mobile robots (WMRs) affected by wheel slipping, skidding (WSS), and external disturbances. A new prescribed performance sliding surface is first introduced based on a prescribed performance function (PPF) and a non-singular fast terminal sliding function (NFTSF). This design ensures that tracking errors converge to zero within a fixed time while maintaining stability by keeping error states within predefined limits. A novel fixed-time prescribed performance non-singular fast terminal sliding mode control (FPP-NFTSMC) algorithm is proposed based on the sliding function. The control method integrates a uniform second-order sliding mode (USOSM) algorithm to provide a continuous control signal, effectively reducing the chattering effect. This method combines the benefits of PPF, NFTSMC, and USOSM algorithm to achieve high-precision position tracking, minimize chattering, guarantee fixed-time convergence, ensure tracking errors remain within bounds, and maintain robustness against WSS, and external disturbances. The fixed-time stability of the WMR systems is demonstrated by the Lyapunov stability theory. The effectiveness of the proposed method is validated through simulations of tracking straight-line and U-shaped trajectories. |
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| ISSN: | 2045-2322 |