Practical Prescribed-Time Tracking Control for High-Order Nonholonomic Systems With Matched and Mismatched Uncertainties

In this brief, a practical prescribed-time (PPT) tracking control method is proposed for a high-order nonholonomic system with matched and mismatched uncertainties. A time-varying constraining function is employed to flexibly adjust constraint boundary of output. Then, a distributed extended state observer (ESO) is presented to estimate both matched and mismatched uncertainties. A backstepping controller is proposed to guarantee that the tracking error system is PPT stable. Computational explosion caused by the backstepping controller is effectively avoided by a second-order tracking differentiator. Finally, effectiveness of the proposed method is verified by an experiment on a wheeled mobile robot (WMR).