Fixed-time tracking control for nonholonomic mobile robot

Ou Meiying; Sun Haibin; Zhang Zhenxing; Li Lingchun; Wang Xiang-ao

Kybernetika (2021)

  • Issue: 2, page 220-235
  • ISSN: 0023-5954

Abstract

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This paper investigates the fixed-time trajectory tracking control problem for a nonholonomic mobile robot. Firstly, the tracking error system is derived for the mobile robot by the aid of a global invertible transformation. Then, based on the unified error dynamics and by using the fixed-time control method, continuous fixed-time tracking controllers are developed for the mobile robot such that the robot can track the desired trajectory in a fixed time. Moreover, the settling time is independent of the system initial conditions and only determined by the controller parameters. Finally, numerical simulations are provided to demonstrate the effectiveness of the theoretical results.

How to cite

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Meiying, Ou, et al. "Fixed-time tracking control for nonholonomic mobile robot." Kybernetika (2021): 220-235. <http://eudml.org/doc/297825>.

@article{Meiying2021,
abstract = {This paper investigates the fixed-time trajectory tracking control problem for a nonholonomic mobile robot. Firstly, the tracking error system is derived for the mobile robot by the aid of a global invertible transformation. Then, based on the unified error dynamics and by using the fixed-time control method, continuous fixed-time tracking controllers are developed for the mobile robot such that the robot can track the desired trajectory in a fixed time. Moreover, the settling time is independent of the system initial conditions and only determined by the controller parameters. Finally, numerical simulations are provided to demonstrate the effectiveness of the theoretical results.},
author = {Meiying, Ou, Haibin, Sun, Zhenxing, Zhang, Lingchun, Li, Xiang-ao, Wang},
journal = {Kybernetika},
keywords = {nonholonomic mobile robot systems; fixed-time control; trajectory tracking},
language = {eng},
number = {2},
pages = {220-235},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Fixed-time tracking control for nonholonomic mobile robot},
url = {http://eudml.org/doc/297825},
year = {2021},
}

TY - JOUR
AU - Meiying, Ou
AU - Haibin, Sun
AU - Zhenxing, Zhang
AU - Lingchun, Li
AU - Xiang-ao, Wang
TI - Fixed-time tracking control for nonholonomic mobile robot
JO - Kybernetika
PY - 2021
PB - Institute of Information Theory and Automation AS CR
IS - 2
SP - 220
EP - 235
AB - This paper investigates the fixed-time trajectory tracking control problem for a nonholonomic mobile robot. Firstly, the tracking error system is derived for the mobile robot by the aid of a global invertible transformation. Then, based on the unified error dynamics and by using the fixed-time control method, continuous fixed-time tracking controllers are developed for the mobile robot such that the robot can track the desired trajectory in a fixed time. Moreover, the settling time is independent of the system initial conditions and only determined by the controller parameters. Finally, numerical simulations are provided to demonstrate the effectiveness of the theoretical results.
LA - eng
KW - nonholonomic mobile robot systems; fixed-time control; trajectory tracking
UR - http://eudml.org/doc/297825
ER -

References

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