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Fixed-time tracking control for nonholonomic mobile robot

Ou Meiying;  Sun Haibin;  Zhang Zhenxing;  Li Lingchun;  Wang Xiang-ao — 2021

Kybernetika

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...

H ∞ sliding mode control for Markov jump systems with interval time-varying delays and general transition probabilities

Lingchun Li;  Guangming Zhang;  Meiying Ou;  Yujie Wang — 2019

Kybernetika

This paper is devoted to design H ∞ sliding mode controller for continuous-time Markov jump systems with interval time-varying delays and general transition probabilities. An integral sliding surface is constructed and its reachability is guaranteed via a sliding mode control law. Meanwhile, a linearisation strategy is applied to treat the nonlinearity induced by general transition probabilities. Using a separation method based on Finsler lemma to eliminate the coupling among Lyapunov variables and...

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