Asset Details
Do you wish to reserve the book?
Fixed-time observer-based adaptive fuzzy tracking control for Mecanum-wheel mobile robots with guaranteed transient performance
Hey, we have placed the reservation for you!
By the way, why not check out events that you can attend while you pick your title.
Oops! Something went wrong.
Looks like we were not able to place the reservation. Kindly try again later.
Are you sure you want to remove the book from the shelf?
Fixed-time observer-based adaptive fuzzy tracking control for Mecanum-wheel mobile robots with guaranteed transient performance
Do you wish to request the book?
Fixed-time observer-based adaptive fuzzy tracking control for Mecanum-wheel mobile robots with guaranteed transient performance
Please be aware that the book you have requested cannot be checked out. If you would like to checkout this book, you can reserve another copy
We have requested the book for you!
Your request is successful and it will be processed during the Library working hours. Please check the status of your request in My Requests.
Oops! Something went wrong.
Looks like we were not able to place your request. Kindly try again later.
Journal Article
Fixed-time observer-based adaptive fuzzy tracking control for Mecanum-wheel mobile robots with guaranteed transient performance
2022
Overview
In this paper, the tracking problem of four-Mecanum-wheel omnidirectional mobile robots is discussed. A fixed-time extended-state-observer-based transient-performance-guaranteed adaptive fuzzy controller based on the backstepping technique is designed under the assumption that the viscous friction coefficients are unknown. Firstly, fuzzy approximators are employed to approximate the unknown dynamics. Secondly, error transformation functions are introduced to guarantee the transient performance of tracking errors. Thirdly, fixed-time extended state observers are applied to estimate the external disturbances. Finally, the stability of the designed controller is proven by the practical fixed-time stability theory. Comparative simulations are carried out, and the simulation results verify the effectiveness of the designed controller.
