Moving Target Tracking of Nonholonomic Mobile Robots for with Anti-Interference via Finite-Time Control

Abstract

A finite-time control strategy is presented in the paper to stabilize nonholonomic mobile robots for moving target tracking with external disturbance. On the one hand, we obtain the moving target tracking equation processed by polar coordinate method and creatively inject external disturbance as the control target of this paper. On the other hand, an appropriate finite-time controller consistent with stability requirements is designed to transform the proposed dynamics system model into a chained-form system. Therefore, we theoretically verify the validity of the proposed control method. Show more