Fixed-time  tracking control for  nonholonomic mobile robot

Ou, Meiying; Sun, Hao; Zhang, Zhenxing; Li, Lingchun; Wang, Xiang-Ao

doi:10.14736/kyb-2021-2-0220

Cited by 3 publications

(2 citation statements)

References 26 publications

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“…Convergence rate has been an important performance index of control systems. Finitetime control can ensure that the system state reaches the desired equilibrium in finite time [2,12,14] and it has become widely employed in many practical scenarios, such as variable length pendulum swing [4], vehicle tracking [6,24] and finite-time consensus in dynamic networks [10]. However, the so-called settling time, needed to reach the equilibrium, is generally dependent on initial states and no finite bound of settling times is guaranteed for noncompact sets of initial conditions.…”

Section: Introductionmentioning

confidence: 99%

Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions

Guo¹,

Hu²,

Jiang³

et al. 2023

Kybernetika

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In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained and unconstrained cases in a unified way. Further, a radial basis function neural network is constructed to approximate the unknown dynamics in the system and a fixed-time dynamic surface control (FDSC) technique is developed to facilitate the fixed-time control design for the uncertain high-order pure-feedback system. Combined with the proposed unified transformation function and the FDSC technique, an adaptive fixed-time control strategy is proposed to guarantee the fixed-time tracking. The novel original results of the paper allow to design the independent unified flexible fixed-time control strategy taking into account the actual possible constraints, either present or missing. Numerical examples are presented to demonstrate the proposed fixed-time tracking control strategy.

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Section: Introductionmentioning

confidence: 99%

Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions

Guo¹,

Hu²,

Jiang³

et al. 2023

Kybernetika

View full text Add to dashboard Cite

show abstract

“…Convergence rate has been an important performance index of control systems. Finitetime controls can ensure that the system state reaches the desired equilibrium in finite time [1][2][3] and it has become widely employed in many practical scenarios, such as variable length pendulum swing [4], vehicle tracking [5][6][7] and finite-time consensus in dynamic networks [8]. However, the so-called settling time, needed to reach the equilibrium, is generally dependent on initial states and no finite bound of settling times is guaranteed for noncompact sets of initial conditions [9,10].…”

Section: Introductionmentioning

confidence: 99%

Fixed-time Output Feedback Stabilization and Settling Time Analysis for High-Order Integrator Systems

Guo

Ghosh

2022

2022 41st Chinese Control Conference (CCC)

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In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained and unconstrained cases in a unified way. Further, a radial basis function neural network is constructed to approximate the unknown dynamics in the system and a fixed-time dynamic surface control (FDSC) technique is developed to facilitate the fixed-time control design for the uncertain high-order pure-feedback system. Combined with the proposed unified transformation function and the FDSC technique, an adaptive fixed-time control strategy is proposed to guarantee the fixed-time tracking. The proposed fixed-time control strategy can guarantee uniform control structure when addressing both constrained and unconstrained situations. Numerical examples are presented to demonstrate the proposed fixed-time tracking control strategy.

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Adaptive Fixed-Time Tracking Control for Nonholonomic Wheeled Mobile Robot with External Disturbances

Lu,

Huang

2023

2023 China Automation Congress (CAC)

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Fixed-time tracking control for nonholonomic mobile robot

Abstract: Institute of Mathematics of the Czech Academy of Sciences provides access to digitized documents strictly for personal use. Each copy of any part of this document must contain these Terms of use.

Cited by 3 publications

References 26 publications

Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions

Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions

Fixed-time Output Feedback Stabilization and Settling Time Analysis for High-Order Integrator Systems

Adaptive Fixed-Time Tracking Control for Nonholonomic Wheeled Mobile Robot with External Disturbances

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