Regular Papers

International Journal of Control, Automation and Systems 2021; 19(5): 1798-1806

Published online February 18, 2021

https://doi.org/10.1007/s12555-020-0225-z

© The International Journal of Control, Automation, and Systems

Trajectory Tracking Control Design for Nonholonomic Systems with Fullstate Constraints

Zhongcai Zhang*, Wenli Cheng, and Yuqiang Wu

Qufu Normal University

Abstract

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.

Keywords Barrier Lyapunov function, finite-time control, full-state constraints, nonholonomic systems, trajectory tracking.

Article

Regular Papers

International Journal of Control, Automation and Systems 2021; 19(5): 1798-1806

Published online May 1, 2021 https://doi.org/10.1007/s12555-020-0225-z

Copyright © The International Journal of Control, Automation, and Systems.

Trajectory Tracking Control Design for Nonholonomic Systems with Fullstate Constraints

Zhongcai Zhang*, Wenli Cheng, and Yuqiang Wu

Qufu Normal University

Abstract

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.

Keywords: Barrier Lyapunov function, finite-time control, full-state constraints, nonholonomic systems, trajectory tracking.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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