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...

Full description

Saved in:
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
Online AccessGet full text
ISSN1819-656X
1819-9224

Cover

Abstract 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.
AbstractList 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.
Author Zhou, Runzhi
Zhao, Zixing
Yao, Yi
Chen, Tianjiao
Zhao, Qu
Shang, Yanling
Author_xml – sequence: 1
  givenname: Tianjiao
  surname: Chen
  fullname: Chen, Tianjiao
– sequence: 2
  givenname: Zixing
  surname: Zhao
  fullname: Zhao, Zixing
– sequence: 3
  givenname: Qu
  surname: Zhao
  fullname: Zhao, Qu
– sequence: 4
  givenname: Yi
  surname: Yao
  fullname: Yao, Yi
– sequence: 5
  givenname: Runzhi
  surname: Zhou
  fullname: Zhou, Runzhi
– sequence: 6
  givenname: Yanling
  surname: Shang
  fullname: Shang, Yanling
BookMark eNotjdtKwzAAhoNMcM69Q8DrQtKcL6U4FaaCK6hXI0lTzeySmmSgb--Ku_o_-E-XYBZicGdgjiVWlaprOjsxZ_ztAixz9gZRKoiUjMzB-8r_uK5q_d7BNumdsyWm3wntlw8fsImhpDjA2MOnGD7jEEPcewtfH18y3BzMVIAlws2oi9fDlM8laR_KFTjv9ZDd8qQL0K5u2-a-Wj_fPTQ362pUslTcKI2xrRllptaqxwiTDjGi-s5yZ5nEglnCsBKmw5TLoykoEtIygxHXjCzA9f_smOL3weWy3cVDCsfHbS0FQkIoxskfxw5Q7g
ContentType Journal Article
Copyright Copyright International Association of Engineers Aug 16, 2023
Copyright_xml – notice: Copyright International Association of Engineers Aug 16, 2023
DBID 7SC
8FD
JQ2
L7M
L~C
L~D
DatabaseName Computer and Information Systems Abstracts
Technology Research Database
ProQuest Computer Science Collection
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
DatabaseTitle Computer and Information Systems Abstracts
Technology Research Database
Computer and Information Systems Abstracts – Academic
Advanced Technologies Database with Aerospace
ProQuest Computer Science Collection
Computer and Information Systems Abstracts Professional
DatabaseTitleList Computer and Information Systems Abstracts
DeliveryMethod fulltext_linktorsrc
Discipline Computer Science
EISSN 1819-9224
GroupedDBID .4S
.DC
2WC
5VS
7SC
8FD
AAKPC
ADMLS
ALMA_UNASSIGNED_HOLDINGS
ARCSS
EDO
EOJEC
I-F
JQ2
KQ8
L7M
L~C
L~D
MK~
ML~
OBODZ
OK1
OVT
P2P
TR2
TUS
ID FETCH-LOGICAL-p98t-6b9a11c2545b2a9f1013d0539fdc6ec58175c35197bd14683d074078c5b106a53
ISSN 1819-656X
IngestDate Mon Jun 30 12:40:14 EDT 2025
IsPeerReviewed true
IsScholarly true
Issue 3
Language English
LinkModel OpenURL
MergedId FETCHMERGED-LOGICAL-p98t-6b9a11c2545b2a9f1013d0539fdc6ec58175c35197bd14683d074078c5b106a53
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
PQID 2870077956
PQPubID 2049582
ParticipantIDs proquest_journals_2870077956
PublicationCentury 2000
PublicationDate 20230816
PublicationDateYYYYMMDD 2023-08-16
PublicationDate_xml – month: 08
  year: 2023
  text: 20230816
  day: 16
PublicationDecade 2020
PublicationPlace Hong Kong
PublicationPlace_xml – name: Hong Kong
PublicationTitle IAENG international journal of computer science
PublicationYear 2023
Publisher International Association of Engineers
Publisher_xml – name: International Association of Engineers
SSID ssib044738853
ssj0070001
Score 2.2589064
Snippet The design of fixed-time trajectory tracking controller for nonholonomic wheeled mobile robots (WMRs) subject to spatial constraint is addressed in this paper....
SourceID proquest
SourceType Aggregation Database
StartPage 954
SubjectTerms Closed loops
Constraints
Feedback control
Liapunov functions
State feedback
Tracking control
Trajectory control
Title Fixed-Time Trajectory Tracking Control of Nonholonomic WMRs Subject to Spatial Constraint
URI https://www.proquest.com/docview/2870077956
Volume 50
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVAFT
  databaseName: Open Access Digital Library
  customDbUrl:
  eissn: 1819-9224
  dateEnd: 99991231
  omitProxy: true
  ssIdentifier: ssj0070001
  issn: 1819-656X
  databaseCode: KQ8
  dateStart: 20060101
  isFulltext: true
  titleUrlDefault: http://grweb.coalliance.org/oadl/oadl.html
  providerName: Colorado Alliance of Research Libraries
– providerCode: PRVEBS
  databaseName: Inspec with Full Text
  customDbUrl:
  eissn: 1819-9224
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0070001
  issn: 1819-656X
  databaseCode: ADMLS
  dateStart: 20070301
  isFulltext: true
  titleUrlDefault: https://www.ebsco.com/products/research-databases/inspec-full-text
  providerName: EBSCOhost
– providerCode: PRVHPJ
  databaseName: ROAD: Directory of Open Access Scholarly Resources
  customDbUrl:
  eissn: 1819-9224
  dateEnd: 99991231
  omitProxy: true
  ssIdentifier: ssib044738853
  issn: 1819-656X
  databaseCode: M~E
  dateStart: 0
  isFulltext: true
  titleUrlDefault: https://road.issn.org
  providerName: ISSN International Centre
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3NS9xAFB9WT71YbS1t1TIH6UWmZDefcxTZ1RbdUol09bLMTCYQhcRqxI-Df7vvzUzMLJbS9hLCC7uEvB-_9-Z9ErINNg38-ICzMhEhi3QWMTksApYGmSx4IXisMKN7NE0OTqJvs3g2GNz63SWt_KIefttX8j9aBRnoFbtk_0Gzz38KArgH_cIVNAzXv9LxpLrTBcMuDhxSfm4C8Pd4qy5sOt-WoWNQoKmR5kwP8s7Po-NrZAz8AfqeuJa4MkEEHCcrqnohXv91dzzdN2Ml-sihN29CubUQO86W9vUCltBywN95JRovQm2is2fVXWc1PemPm2casoLTyo9LjEIMtNq2SXtWXXgtD2umYtLNWvTikeBpYB2OWWsIhqmX8ZFtsu7o2s6pdbAMPe7ldhr14kzt6ff55OTwcJ6PZ_nny18M141hWt7tXlkiS0B4WPH5OO5oKIrSMDNejDXoKfrBeG7v3vCF2Ta-SL5KVtwhgu5aRKyRga7fkNfdgg7q-PotOe0BQnuA0A4g1AGENiX1AUIRINQBhLYNdQChPUDWST4Z53sHzO3SYJc8a1kiuRgO1Qj8ZTkSvAQiDgvgX14WKtEqzsCLVLirMZUFNuPBwxQzvCqWwyARcfiOLNdNrd8TGiZcRLgrNtIykjrjqTBerYrLWOtYfyCb3deZOzRezzGdHqQpHMY__vnxBnnVg2mTLLdXN3oL3L5WfjJKegL3XWJH
linkProvider ISSN International Centre
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Fixed-Time+Trajectory+Tracking+Control+of+Nonholonomic+WMRs+Subject+to+Spatial+Constraint&rft.jtitle=IAENG+international+journal+of+computer+science&rft.au=Chen%2C+Tianjiao&rft.au=Zhao%2C+Zixing&rft.au=Zhao%2C+Qu&rft.au=Yao%2C+Yi&rft.date=2023-08-16&rft.pub=International+Association+of+Engineers&rft.issn=1819-656X&rft.eissn=1819-9224&rft.volume=50&rft.issue=3&rft.spage=954&rft.externalDBID=NO_FULL_TEXT
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1819-656X&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1819-656X&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1819-656X&client=summon