Attitude Asymptotic Tracking Control of Two-Wheeled Self-Balancing Mobile Robot with a Finite-Time Prescribed Performance

Aiming at the precise attitude control of two-wheeled self-balancing mobile robot (TSR) with considering transient performance, this paper presents a robust integral of sign error tracking (RISE) method based on finite-time prescribed performance function (FPPF). This method can effectively improve the error constraint and control stability. First, a new type performance function is designed with the objective of limiting all tracking errors of the TSR to remain a preset finite-time range. Next, the FPPF is implanted into RISE strategy to form expected FPPF-RISE controller for TSR, which can yield an asymptotic stable result in a finite time. Finally, the FPPF-RISE method effectiveness is verified by several numerical simulations using two cases.