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"Mobile" Keyword-tagged Publications:
| Title: | Practical fixed-time trajectory tracking control of constrained wheeled mobile robots with kinematic disturbances | ||||
| Authors: | Lu Q, Chen J, Wang Q, Zhang D, Sun M, Su CY | ||||
| Link: | https://pubmed.ncbi.nlm.nih.gov/35039151/ | ||||
| DOI: | 10.1016/j.isatra.2021.12.039 | ||||
| Publication: | ISA transactions | ||||
| Keywords: | Fixed-time stability; Input saturation; Output feedback control; Trajectory tracking; Wheeled mobile robots; | ||||
| PMID: | 35039151 | Category: | Date Added: | 2022-01-18 | |
| Dept Affiliation: |
ENCS
1 College of Electrical Engineering, Yancheng Institute of Technology, Yancheng 224003, China. 2 Zhejiang Provincial United Key Laboratory of Embedded Systems, Zhejiang University of Technology, Hangzhou 310023, China. Electronic address: danzhang@zjut.edu.cn. 3 Zhejiang Provincial United Key Laboratory of Embedded Systems, Zhejiang University of Technology, Hangzhou 310023, China. 4 Department of Mechanical, Industrial, and Aerospace Engineering, Concordia University, Montreal, QC H3G 1M8, Canada. |
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Description: |
This paper addresses the problem of practical fixed-time trajectory tracking for wheeled mobile robots (WMRs) subject to kinematic disturbances and input saturation. Firstly, considering the under-actuated characteristics of the WMR systems, the WMR model under kinematic disturbances is transformed into a two-input two-output interference system by using a set of output equations. Then, the tracking error state equation with lumped disturbances in the acceleration-level pseudo-dynamic control (ALPDC) structure is established. The lumped disturbances are estimated by a designed fixed-time extended state observer (FESO) without requiring the differentiability of the first-time derivatives of the kinematic disturbances. Meanwhile, a practical fixed-time output feedback control law is developed for trajectory tracking. By resorting to the Lyapunov stability theorem, the fixed-time stability analysis of the closed-loop WMR system in the presence of input saturation is conducted. Finally, simulation results are presented to show the effectiveness of the proposed approach. |
