Fixed-Time Sliding Mode Control of Nonholonomic Mobile Deicing Manipulators with Prescribed Performance

In this paper, a novel anti-windup prescribed performance terminal sliding mode control method is proposed for the fixed-time tracking problem of a nonholonomic constrained mobile deicing manipulator system with model uncertainty and external disturbance. Firstly, a fixed-time preset performance function related to the initial error is proposed to constrain and transform the tracking error, so as to ensure that the tracking error of the system converges in a fixed time and has good transient and steady-state performance. Secondly, in order to accelerate the convergence to the equilibrium state, a fast terminal sliding mode surface with preset performance tracking error and a new fixed time reaching rate are constructed. By using Lyapunov analysis, the global fixed-time convergence of the scheme is theoretically verified. The control method is compared with the FTSMC method through simulation experiments, and the effectiveness of the designed control method is further verified.