Fixed-time disturbance observer based robust tracking control of wheeled mobile robot with multiple disturbances

In this article, the problem of robust tracking control for wheeled mobile robot (WMR) with skidding, slipping, and parameter uncertainties is addressed. Through designing double sliding mode variables, a fixed time disturbance observer developed to estimate multiple disturbances within time, convergence regardless initial estimation error system. Based on fixed-time (FTDOB) novel power reaching law technique, controller synthesized. The proposed method eliminates chattering existing in traditional control, can guarantee high-precision performance even presence slipping uncertainties. closed-loop system stability analysis verified by Lyapunov theory. Meanwhile, simulation comparative results are carried out illustrate effectiveness method.