Finite-Time Tracking Control for Wheeled Mobile Robots with Uncalibrated Parameter and Disturbances

In this paper, the finite-time tracking control problem of wheeled mobile robots with uncalibrated parameters and disturbances is studied. Firstly, the tracking error system is decomposed into a second-order subsystem and a third-order subsystem, respectively. Secondly, the disturbance observers are designed for the subsystems to achieve accurate observation of the uncertainties in a finite time. Then, based on the proposed disturbance observers, a finite-time tracking controller is proposed, which realizes the finite time tracking control of wheeled mobile robot even in the presence of uncalibrated parameters and disturbances. Finally, the simulation results illustrate the effectiveness of the proposed controller.