Finite-time tracking of an arbitrary moving target with a dynamic wheeled mobile robot based on ESO

In this paper, a switched finite-time control method is proposed to address the problem of tracking a moving target with nonholonomic mobile robots. The kinematic and dynamic equations of the robot and the moving target that provide information of the distance and azimuth between the robot to be controlled and the target are depicted in a polar coordinate system. Within the constraints of sensor sensitivity and safety distance requirements, a switched finite-time tracking control law based on sliding mode control is designed, which can also attenuate the effects of output disturbances. In order to improve the feasibility of the control law, an ESO (Extended State Observer) is proposed to estimate the value of the disturbance. The effectiveness of the method is proved both theoretically and practically by rigorous mathematical analysis and numerical simulations, respectively.