부산대학교 도서관

In this paper, we propose a robust arbitrary-time path tracking control using reduced order kinematic model for the unmanned ground vehicle. The proposed method consists of the robust arbitrary-time convergence control and fixed-time super-twisting observer for the kinematic model, and the fixed-time super-twisting controller of the dynamic model. To apply the robust arbitrary-time convergence control to the unmanned ground vehicle, the reduced order kinematic model is developed to move the sensor location to the origin through coordinate transformation. The robust arbitrary-time convergence control is designed to obtain the arbitrary-time convergence and the robustness for the kinematic model. When the tracking errors exceed the predefined error boundary after the predefined arbitrary-time, the tracking errors can converge to zero within predefined arbitrary-time by the switching rule. The fixed-time super-twisting observer is designed to estimate the lumped disturbance for the kinematics model. The fixed-time super-twisting controller is developed for the dynamic model.