Predetermined-Time Prescribed Performance Sliding Mode Control of WMRs Based on Improved Performance Function

This article proposes a new trajectory tracking control strategy for WMR, which has a predetermined time convergence performance with specified performance. 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. Finally, both numerical simulations and physical experiments have validated the effectiveness of the proposed method.