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State feedback finite-time tracking controller of nonholonomic mobile robot with actuator delay

In this paper, the problem of finite-time tracking of nonholonomic mobile robot with actuator delay is studied. The major difficulties are caused by actuator delay and unknown disturbances in the mobile robot dynamic system. To solve these difficulties, the tracking error system is divided into two subsystems, and these two subsystems are discussed respectively. We present predictor-based finite-time state feedback controllers and two finite-time observers to estimate the unknown disturbances respectively. It is shown that the tracking errors of nonholonomic mobile robot converge to zero in finite time. Simulation result verify the effectiveness of the proposed controllers.