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

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 emplo...

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Bibliographic Details
Published inIAENG international journal of computer science Vol. 50; no. 3; p. 954
Main Authors Chen, Tianjiao, Zhao, Zixing, Zhao, Qu, Yao, Yi, Zhou, Runzhi, Shang, Yanling
Format Journal Article
LanguageEnglish
Published Hong Kong International Association of Engineers 16.08.2023
Subjects
Closed loops
Constraints
Feedback control
Liapunov functions
State feedback
Tracking control
Trajectory control
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ISSN1819-656X
1819-9224

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Summary: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.
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ISSN:1819-656X
1819-9224