Practical Prescribed Time Tracking Control for WMRs Based on Time-Varying Constraint Function

This paper presents a practical prescribed time tracking control approach, which is employed to deal with the trajectory tracking difficulties in a wheeled mobile robot (WMR). First, an innovative decoupled dynamic model is formulated, incorporating a direct current motor model with uncertain parameters. Next, a dynamic controller based on practical prescribed time tracking control is constructed by a time-varying constraining function and state transformation. More specifically, the original tracking control issue is reformulated as a feedback compensation problem, the tracking error is driven to meet prescribed performance criteria within a prescribed time frame. Finally, experimental results validate the efficacy of the introduced method.