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What is Nonsingular Fast Terminal Control for WMRs about?

This paper presents a dual-loop control strategy for trajectory tracking of differential wheeled mobile robots (WMRs), addressing y-axis divergence issues with a predefined-time velocity control law. It introduces a predefined-time nonsingular fast terminal sliding mode controller to enhance tracking accuracy and robustness while employing a nonlinear extended state observer for disturbance estimation. Experimental results indicate that this approach significantly improves trajectory tracking performance co

Author

dimah.sani

Language

EN