A finite‐time adaptive Taylor series tracking control of electrically‐driven wheeled mobile robots

This research seeks to address a new integrated kinematic/dynamic adaptive Taylor series-based control design for the robust tracking of electrically-driven differential drive wheeled mobile robots (WMRs). includes two loops, namely outer loop (a kinematic law) and inner dynamic controller). Being capable compensating far initial conditions from desired trajectory, law is designed make posture error converge zero asymptotically as well generate trajectory controller. The key role controller compensate lumped uncertainties. To do this, proposed chattering-free guarantees that defined sliding surface which function its time derivative will be converged within finite time. exact stability analysis closed-loop system developed via Lyapunov-like positive definite functions ensure not only boundedness all signals but also finite-time convergence zero. algorithm validated by means various simulations, including comparisons with well-designed literature.