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Title: Fixed-time tracking control for nonholonomic mobile robot (English)
Author: Meiying, Ou
Author: Haibin, Sun
Author: Zhenxing, Zhang
Author: Lingchun, Li
Author: Xiang-ao, Wang
Language: English
Journal: Kybernetika
ISSN: 0023-5954 (print)
ISSN: 1805-949X (online)
Volume: 57
Issue: 2
Year: 2021
Pages: 220-235
Summary lang: English
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Category: math
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Summary: This paper investigates the fixed-time trajectory tracking control problem for a nonholonomic mobile robot. Firstly, the tracking error system is derived for the mobile robot by the aid of a global invertible transformation. Then, based on the unified error dynamics and by using the fixed-time control method, continuous fixed-time tracking controllers are developed for the mobile robot such that the robot can track the desired trajectory in a fixed time. Moreover, the settling time is independent of the system initial conditions and only determined by the controller parameters. Finally, numerical simulations are provided to demonstrate the effectiveness of the theoretical results. (English)
Keyword: nonholonomic mobile robot systems
Keyword: fixed-time control
Keyword: trajectory tracking
MSC: 93A14
MSC: 93D15
MSC: 93D21
idZBL: Zbl 07396264
idMR: MR4273573
DOI: 10.14736/kyb-2021-2-0220
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Date available: 2021-07-30T13:03:18Z
Last updated: 2021-11-01
Stable URL: http://hdl.handle.net/10338.dmlcz/149036
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