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
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.
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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.
Vol. 22, No. 9, pp. 2673~2953
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