Disturbance Management-Based Finite-Time Adaptive Sliding Mode Control for Agriculture Mobile Robot: A Fixed-Time Observer-Based Approach

Abstract

In the agriculture field, robotic systems are inevitably subject to multiple disturbances. This paper addresses critical challenges in managing disturbances in nonlinear systems like the Wheeled Mobile Robot (WMR). For this purpose, a Fixed-Time Extended State Observer (FxT-ESO) is designed. It aims to estimate different types of disturbances in a fixed time regardless of their initial values. Then, this observer is embedded in a closed-loop Finite-Time Adaptive Sliding Mode Controller (FT-ASMC). This later enables compensation for disturbances while avoiding the chattering problem thanks to the gain adjustment strategy. The simulation results show that this objective is achieved.