Fractional robust finite time control of four-wheel-steering mobile robots subject to serious time-varying perturbations

• Published in: Mechanism and machine theory Vol. 169; p. 104634
• Main Authors: Jiang, Liquan, Wang, Shuting, Xie, Yuanlong, Xie, Sheng Quan, Zheng, Shiqi, Meng, Jie
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.03.2022
• Subjects: Four-wheel-steering mobile robots; Fractional robust finite time control; Sliding mode mechanism; Time-varying perturbations; Fractional robust finite time control; Four-wheel-steering mobile robots; Time-varying perturbations; Sliding mode mechanism

•A novel fractional robust finite time control method is proposed for the mobile robot.•The complex perturbations can be directly suppressed using adaptive gain scheduling.•A modified super-twisting like SMC is designed to seek continuous control inputs.•This method ensures the input-to-state practi...