Affiliation:
1. School of Engineering Qufu Normal University Rizhao China
2. School of Internet of Things Engineering Jiangnan University Wuxi China
Abstract
AbstractThis article investigates the finite‐time tracking control problem for disturbed non‐holonomic systems with input saturation and state constraints. Input saturation is ensured by utilizing saturated state feedback and designing auxiliary variables. A rigorous design procedure, which combines barrier Lyapunov function‐based backstepping and neural networks, is introduced to satisfy state constraints and overcome the influence of lumped disturbances. A finite‐time filter is developed to address the explosion of complexity problem. Together with relay switching, the designed saturated controller guarantees that the tracking errors converge to arbitrarily small neighbourhoods around zero within a finite time. Stability analysis indicates that all closed‐loop system signals maintain bounded, and the desired input and state constraints are not violated throughout the control process. To demonstrate the effectiveness of the proposed approach, simulation and experimental results on a wheeled mobile robot are presented.
Funder
Major Scientific and Technological Innovation Project of Shandong Province
National Natural Science Foundation of China
Publisher
Institution of Engineering and Technology (IET)
Subject
Electrical and Electronic Engineering,Control and Optimization,Computer Science Applications,Human-Computer Interaction,Control and Systems Engineering
Cited by
1 articles.
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