Finite-time output feedback tracking control for a nonholonomic wheeled mobile robot

The finite-time tracking control problem via output feedback for a nonholonomic wheeled mobile robot with a higher-order dynamic model is investigated in this paper. To solve the problem when the robot's velocities cannot be measured, some coordinate changes are skillfully introduced at the first step. Then based on the fast finite-time control algorithm, a fast finite-time state feedback controller is designed and then a fast finite-time observer is constructed. Finally, an observer-based dynamic output feedback controller is proposed, which can guarantee that the reference trajectory can be tracked in a finite time through a rigorous stability analysis. An example is given to verify the efficiency of the proposed method.