@inbook{acf41fcd927b41b4a478679a321f09a9,
title = "Robust fixed-time tracking control of wheeled mobile robots",
abstract = "This paper considers the problem of trajectory tracking control of a two-wheeled mobile robot in fixed time. By using the differential flatness property, the system model is linearized with several input transformations and an input prolongation. Then a feedback control law is designed to ensure the convergence of tracking errors in fixed time. The dynamic model with disturbances and unmodeled dynamics is also derived, and it is controlled in fixed time by designing a novel integral sliding mode surface. Theoretical results are finally verified by numerical simulations.",
keywords = "differential flatness, fixed-time control, integral sliding mode, wheeled mobile robot",
author = "Liming Chen and Yingmin Jia",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Singapore Pte Ltd.",
year = "2019",
doi = "10.1007/978-981-13-2291-4\_75",
language = "英语",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "769--783",
booktitle = "Lecture Notes in Electrical Engineering",
address = "德国",
}