TY - JOUR T1 - Nonlinear Disturbance Observer-Based Fuzzy Adaptive Finite-Time Dynamic Surface Formation Control of Tractor–Trailer Wheeled Mobile Robots TT - کنترل آرایش بندی سطح دینامیکی زمان محدود فازی تطبیقی مبتنی بر رؤیتگر اغتشاش غیرخطی ربات های متحرک چرخ دار تراکتور- تریلر JF - joc-isice JO - joc-isice VL - 15 IS - 1 UR - http://joc.kntu.ac.ir/article-1-767-en.html Y1 - 2021 SP - 93 EP - 112 KW - Adaptive fuzzy KW - disturbance obse‌rver KW - finite-time dynamic surface control KW - nonholonomic constraints KW - tractor-trailer robot. N2 - In this paper, the trajectory tracking control problem for a team of nonholonomic tractor-trailer wheeled mob­ile robots has been investigated based on the leader-follower strategy in the presence of structural uncertainties and external disturbances. For this purpose, the kinematic and dynamic equations of the formation of tractor-trailer robots are presented and leader-followerchr('39')s model is produced by defining the state error vector at first. Then, a nonlinear disturbance observer is designed by using the formation dynamic model to estimate and compensate the external disturbance and a new model of the system is obta­ined. In the following, a finite-time dynamic surface controller has been designed and presented by con­sidering an observer-based model. The proposed scheme ensures closed-loop signals boundedness and fast c­o­n­v­er­gence of tracking errors in a limited time. Furthermore, the par­a­m­etric uncertainties are estimated by using a fuzzy adaptive estimator with a great accuracy. Finally, the finite time stability of the closed-loop control system is proved by Lyapunov theory and the effectiveness of proposed algorithm is sho­w­n by simula­tions. M3 10.52547/joc.15.1.93 ER -