Differential Wheel Robot Prescribed Time Positioning Control

This study focuses on the prescribed time positioning control of a differential wheeled robot (DWR). First, a time gain function with switching characteristics is given, and it is applied to the positioning control law of the robot to ensure that the robot reaches a stable state within the prescribed time when the state variables are bounded. In addition, a Gaussian function with orientation error as input is introduced into the positioning control law to make the robot reach the target point more stably. Finally, Matlab simulations show that the proposed control strategy can effectively make the mobile robot reach the designated place at the predetermined time.