Fixed-Time Trajectory Tracking Control of Nonholonomic WMRs Subject to Spatial Constraint

被引：0
|
作者：
Chen, Tianjiao [1 ]
Zhao, Zixing [1 ]
Zhao, Qu [1 ]
Yao, Yi [1 ]
Zhou, Runzhi [2 ]
Shang, Yanling [3 ]
机构：
[1] School of Automation, Nanjing Institute of Technology, Nanjing,211167, China
[2] School of Computer engineering, Nanjing Institute of Technology, Nanjing,211167, China
[3] School of Automation, Nanjing Institute of Technology, Nanjing,211167, China
来源：
IAENG International Journal of Computer Science | 2023年 / 50卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Fixed time - Fixedtime - Lyapunov's functions - Nonholonomic wheeled mobile robots - Spatial constraints - Time trajectories - Trajectory tracking control - Trajectory tracking controllers - Trajectory-tracking - Wheeled mobile robot;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The design of fixed-time trajectory tracking controller for nonholonomic wheeled mobile robots (WMRs) subject to spatial constraint is addressed in this paper. Firstly, a tan-type Barrier Lyapunov Function (BLF) that equates to the classical one for unconstrained systems is exploited. Then, by employing the adding a power integrator technique and switching control strategy, a state feedback controller is successfully constructed to forces the error dynamic states of the closed-loop system (CLS) to zero in a given fixed time without violation of the constraint. Finally, simulation results are given to confirm the efficacy of the presented control scheme. © (2023), (International Association of Engineers). All Rights Reserved.
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