This paper presents a practical prescribed time tracking control approach, which is employed to deal with the trajectory tracking difficulties in a wheeled mobile robot (WMR). First, an innovative decoupled dynamic model is formulated, incorporating a direct current motor model with uncertain parameters. Next, a dynamic controller based on practical prescribed time tracking control is constructed by a time-varying constraining function and state transformation. More specifically, the original tracking control issue is reformulated as a feedback compensation problem, the tracking error is driven to meet prescribed performance criteria within a prescribed time frame. Finally, experimental results validate the efficacy of the introduced method.
Practical Prescribed Time Tracking Control for WMRs Based on Time-Varying Constraint Function
25.10.2024
1386320 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DOAJ | 2019
|Sliding mode control applied in trajectory-tracking of WMRs and autonomous vehicles
BASE | 2009
|Fault-Tolerant Formation Control of WMRs Team Based on Hybrid GA-PSO
Springer Verlag | 2021
|Fault-Tolerant Formation Control of WMRs Team Based on Hybrid GA-PSO
British Library Conference Proceedings | 2022
|