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.


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    Title :

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


    Contributors:
    Byeon, Kwankyun (author) / You, Sesun (author) / Lee, Youngwoo (author) / Kim, Sungho (author) / Kang, Donghyun (author) / Choi, Jongwon (author) / Kim, Wonhee (author)


    Publication date :

    2024-05-01


    Size :

    2572186 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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