A novel fixed-time prescribed performance sliding mode control for uncertain wheeled mobile robots

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 i...

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Bibliographic Details
Published in:Scientific reports Vol. 15; no. 1; pp. 5340 - 26
Main Authors: Nguyen, Van-Cuong, Kim, Seong Han
Format: Journal Article
Language:English
Published: London Nature Publishing Group UK 13.02.2025
Nature Publishing Group
Nature Portfolio
Subjects:
639/166
639/166/987
Algorithms
Chattering minimization
Fixed-time sliding mode control
Humanities and Social Sciences
multidisciplinary
Non-singular fast terminal sliding mode control
Prescribed performance control
Robots
Science
Science (multidisciplinary)
Uniform second-order sliding mode algorithm
Wheeled mobile robots
Chattering minimization
Fixed-time sliding mode control
Wheeled mobile robots
Non-singular fast terminal sliding mode control
Uniform second-order sliding mode algorithm
Prescribed performance control
ISSN:2045-2322, 2045-2322
Online Access:Get full text
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Summary: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
2045-2322
DOI:10.1038/s41598-025-89126-6