Data · dataset · 2025
Predetermined-Time Prescribed Performance Sliding Mode Control of WMRs Based on Improved Performance Function
Listed in ScienceDB
This article proposes a new trajectory tracking control strategy for WMR, which has a predetermined time convergence performance with specified performance.
Description
The mobile robot system model is divided into kinematic model and dynamic model, forming a dual ring structure. In the kinematic model, a backstepping method is used to design a virtual velocity control law with a predetermined time.
A performance and scheduled time controller based on integral sliding mode was designed in the dynamic model. This controller ensures that the speed tracking error can be maintained within the specified boundary. Meanwhile, a disturbance observer with a predetermined time is introduced to handle external disturbances in the system.
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Finally, both numerical simulations and physical experiments have validated the effectiveness of the proposed method.
Links
Where it is published
- DOI doi.org/10.57760/sciencedb.21451 ↗
DOI / persistent id · from scidb cn
Catalogue records · 1
- OAI-PMH record scidb.cn/oai?verb=GetRecord&metadataPrefix=oai_dc&identifier=10.57760%2… ↗
metadata API · from scidb cn
Topics
- From keywords
- Earth & Environmental Science · Engineering · Humanities · Life Sciences · Social Science
- Inferred from text
- Control engineering, mechatronics and robotics 69%
Provenance · 1 source records, 11 field assertions
| Source | Key | Last seen | Raw |
|---|---|---|---|
| ScienceDB | 10.57760/sciencedb.21451 | 9 d ago | JSON v1 |
| Field | Assertion | Extractor | Evidence |
|---|---|---|---|
| access_level | source · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].anzsrc:group:4007 | enrichment · scidb cn | taxonomy-embedding@1.0.0 | title+keywords+description (69%) |
| concepts[field].local:field:earth-environmental | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].local:field:engineering | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].local:field:humanities | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].local:field:life-sciences | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].local:field:social-science | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| description | source · scidb cn | connector:scidb_cn@1.0.0 | /metadata/dc/description |
| license_text | source · scidb cn | connector:scidb_cn@1.0.0 | |
| publication_date | source · scidb cn | connector:scidb_cn@1.0.0 | |
| title | source · scidb cn | connector:scidb_cn@1.0.0 | /metadata/dc/title |