Finite‐time tracking control of disturbed non‐holonomic systems with input saturation and state constraints: Theory and experiment

Liu, Mengmeng; Wu, Kang; Wu, Yuqiang

doi:10.1049/cth2.12505

Cited by 6 publications

(6 citation statements)

References 38 publications

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“…The designed parameters are shown in the second line of Table 3. It is worth pointing out that the relative distance and bearing angle constraints consisting of ( 8)- (10) would never be violated when Equations ( 12) and ( 13) hold. Thus, the parameters of PPF are selected in the third line of Table 3 for better convergence property of the tracking error system (11).…”

Section: Example 1: Circle Trajectorymentioning

confidence: 99%

“…Practically, the nonholonomic constraint brings difficulties to the controller design for the stabilization of NMRs, since the system does not satisfy Brockett's theorem [9]. Therefore, it cannot be stabilized to the desired state by utilizing a differentiable or continuous state-feedback controller, which attracts a great many scholars to investigate the tracking control for NMRs [10][11][12][13][14][15]. In Ref.…”

Section: Introductionmentioning

confidence: 99%

“…In Ref. [10], to ensure the steady-state performance, a finite-time control for NMRs with input and state constraints was proposed based on neural network and dynamic surface techniques. In Ref.…”

Section: Introductionmentioning

confidence: 99%

“…Compared with the finite-time control scheme in Refs. [10,12,13], a fixed-time eventtriggered convergence of the system is implemented by utilizing the proposed method, for which the upper boundary of convergence time is not impacted by different initial conditions. Concretely, by utilizing the proposed method, the NMR can track the enemy in a given period and implement the mission under limited communication resources.…”

mentioning

confidence: 99%

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Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

Chen,

Gu,

Huang

et al. 2024

Mathematics

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A fixed-time adaptive guaranteed performance tracking control is investigated for a category of nonholonomic mobile robots (NMRs) under asymmetric state constraints. For the sake of favorable transient and steady-state properties of the system, a prescribed performance function (PPF) is introduced and a transform function is further constructed. Based on the backstepping technique, an asymmetric barrier Lyapunov function is formulated to ensure the tracking errors converge within a human-specified time. On the foundation of this, the occupation of communication channel is effectively reduced by assigning an event-triggered mechanism (ETM) with relative threshold to the process of controller design. By utilizing the proposed control strategy, the NMR is capable of implementing the enemy dislodging mission while the enemy can always be caught by the NMR and the collision would never be presented. Finally, two simulation experiments are given to verify the effectiveness of the proposed scheme.

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Section: Example 1: Circle Trajectorymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

Chen,

Gu,

Huang

et al. 2024

Mathematics

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“…In order to stabilise the (11) and using the terminal sliding variable as (12), the supertwisting algorithm can be designed as…”

Section: B X1(t ) and X2(t ) Stabilization'smentioning

confidence: 99%

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

Boubaker,

Labbadi,

Alsubaei

2024

IEEE Access

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This paper addresses the topic of stabilizing a class of nonholonomic systems in chained form impacted by matched uncertainties and time-varying perturbations. To design efficient stabilizing control law, the whole problem is divided into two sub-problems. The first sub-problem considers a system with perturbation stabilized using a fixed-time controller. The second sub-problem consists of the design of a controller for a second system operating under perturbations and uncertainties. To control this second system, firstly a terminal sliding mode manifold is proposed to achieve a fixed-time stability. As opposed to the traditional supertwisting algorithm (STA), the present work proposes a generalized STA (GSTA). The proposed method's most striking feature is the substitution of a fractional power term for the standard STA's discontinuous term, which can significantly boost the former's performance. It is demonstrated that the GSTA will reduce to the traditional STA if the fractional power in the nonsmooth term equals −1/2. The ability of the sliding variables to finite-time converge to an arbitrary tiny region in the vicinity of the origin by adjusting the gains and the fractional power will be thoroughly proven under the GSTA by utilizing strict Lyapunov analysis. The effectiveness of the proposed control method is shown through extensive simulations.INDEX TERMS Perturbed unicycle mobile robots, Nonholonomic systems, Fixed-time/finite stabilization, Lyapunov methods, high order sliding mode, Perturbations.

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A linear MPC with control barrier functions for differential drive robots

Ali,

Shen,

Hashim

2024

IET Control Theory & Appl

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The need for fully autonomous mobile robots has surged over the past decade, with the imperative of ensuring safe navigation in a dynamic setting emerging as a primary challenge impeding advancements in this domain. In this article, a Safety Critical Model Predictive Control based on Dynamic Feedback Linearization tailored to the application of differential drive robots with two wheels is proposed to generate control signals that result in obstacle‐free paths. A barrier function introduces a safety constraint to the optimization problem of the Model Predictive Control (MPC) to prevent collisions. Due to the intrinsic nonlinearities of the differential drive robots, computational complexity while implementing a Nonlinear Model Predictive Control (NMPC) arises. To facilitate the real‐time implementation of the optimization problem and to accommodate the underactuated nature of the robot, a combination of Linear Model Predictive Control (LMPC) and Dynamic Feedback Linearization (DFL) is proposed. The MPC problem is formulated on a linear equivalent model of the differential drive robot rendered by the DFL controller. The analysis of the closed‐loop stability and recursive feasibility of the proposed control design is discussed. Numerical experiments illustrate the robustness and effectiveness of the proposed control synthesis in avoiding obstacles with respect to the benchmark of using Euclidean distance constraints.

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Finite‐time tracking control of disturbed non‐holonomic systems with input saturation and state constraints: Theory and experiment

Cited by 6 publications

References 38 publications

Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

A linear MPC with control barrier functions for differential drive robots

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