Trajectory Tracking Control Design for Nonholonomic Systems with Full-state Constraints

被引：0
作者：
Zhongcai Zhang
Wenli Cheng
Yuqiang Wu
机构：
[1] Qufu Normal University,Department of Engineering
来源：
International Journal of Control, Automation and Systems | 2021年 / 19卷
关键词：
Barrier Lyapunov function; finite-time control; full-state constraints; nonholonomic systems; trajectory tracking;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A systematic control design strategy of the trajectory tracking controller is proposed for a class of chained nonholonomic systems with full-state constraints. The barrier Lyapunov function (BLF) with finite-time convergence, the technique of relay switching and the integral backstepping are applied to the development of the controller. The designed control law guarantees that the reference trajectory can be tracked by the system state asymptotically and the state constraints are not violated. The physical models of two mobile robots and simulation results are provided to demonstrate the effectiveness of the proposed control scheme.
引用
收藏
页码：1798 / 1806
页数：8
相关论文
共 89 条
  • [1] Sordalen O J(1995)Exponential stabilization of nonholonomic chained systems IEEE Trans. Autom. Control 40 35-49
  • [2] Egeland O(1993)Nonholonomic motion planning: Steering using sinusoids IEEE Trans. Autom. Control 38 700-716
  • [3] Murray R M(2000)Robust exponential regulation of nonholonomic systems with uncertainties Automatica 36 189-209
  • [4] Sastry S(2003)Adaptive stabilization of uncertain nonholonomic systems by state and output feedback Automatica 39 1451-1460
  • [5] Jiang Z P(2015)Finite-time state-feedback stabilisation of non-holonomic systems with low-order non-linearities IET Control Theory Appl. 9 1553-1560
  • [6] Ge S S(2007)Output feedback exponential stabilization of uncertain chained systems J. Franklin Inst. 344 36-57
  • [7] Wang Z P(2005)Output feedback adaptive stabilization control design for nonholonomic systems with strong nonlinear drifts Int. J. Control 78 474-490
  • [8] Lee T H(2005)Finite-time tracking controller design for nonholonomic systems with extended chained form IEEE Trans. Circuits Syst. II, Exp. Briefs 52 798-802
  • [9] Wu Y Q(2011)State-feedback stabilization for a class of more general high order stochastic nonholonomic systems Int. J. Adapt. Control Sign. Proc. 25 687-706
  • [10] Gao F Z(2015)Global inverse optimal stabilization of stochastic nonholonomic systems Syst. Control Lett. 75 41-45
123456789