Adaptive fixed‐time sliding‐mode trajectory following control of nonholonomic AMRs with adaptive sliding‐mode observers

ABSTRACT This paper presents a new dynamic motion control method using a fast nonsingular finite time control approach based on an adaptive disturbance observer to solve the trajectory tracking problem of nonholonomic autonomous mobile robots (AMR) with uncertain disturbances. The proposed method combines fast nonsingular terminal sliding mode control (FNTSMC) with an adaptive sliding mode observer (ASMO), referred to as FNTSMC+ASMO. The ASMO estimates disturbances in finite time, and its output is used by FNTSMC to enhance system robustness and ensure fixed‐time convergence of tracking errors under practically bounded initial conditions via Lyapunov stability theory. Additionally, an artificial potential field (APF) technique is incorporated to achieve effective obstacle avoidance, further improving its practical applicability. The validity and superiority of the proposed method are well exemplified through extensive simulations and experiments, demonstrating superior tracking accuracy and excellent disturbance rejection compared to other sliding‐mode control methods.