Prescribed‐Time Immersion and Invariance Control of Underactuated Wheeled Robot With Disturbances

ABSTRACT Underactuated wheeled robots (UWRs) are widely used in industrial scenarios. Due to the strong coupling relationship and underactuation of UWRs, it is critical to deal with the coupling terms, as well as disturbances at various locations and the convergence time. This paper proposes a prescribed‐time immersion and invariance‐based tracking control strategy. By designing a fully actuated target system and immersion condition, the underactuated control problem is transformed into an easier‐to‐handle fully actuated issue. The prescribed‐time technique ensures the convergence time of the off‐the‐manifold coordinates and tracking errors. On this basis, a prescribed‐time adaptive anti‐disturbance control strategy based on I&I is proposed via a dual‐terminal self‐triggered mechanism. With theoretical analysis, the effectiveness of the strategy is proven, and its feasibility is demonstrated through a simulation example.