This paper considers the tracking control problem for unmanned fire fighting robots subject to both full-state constraints and input saturation. First, a system model is developed that incorporates system internal uncertainties, external disturbances, input saturation, and actuator faults. Then, to address the full-state constraint problem, the original constrained system is transformed into an equivalent unconstrained one by using a new state-dependent transformation function. In addition, to solve asymmetric time-varying constraints on the control input, another new transformation function is also designed. In the end, based on the transformed system, a novel adaptive control scheme is proposed utilizing the backstepping recursive method and first-order filters. It is demonstrated that all signals in the closed-loop system are semi-globally ultimately bounded, and the output variables accurately track the reference signals while satisfying both full-state constraints and input saturation. To validate the effectiveness of our designed control scheme, numerical simulations have been conducted. To ensure repeatability, our codes are open sourced on github: https://github.com/JiannanChen/ATControlUFFR-FullStateConstraintInputSaturation.git.


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    Titel :

    Adaptive Tracking Control for Uncertain Unmanned Fire Fighting Robot With Input Saturation and Full-State Constraints


    Beteiligte:
    Chen, Jiannan (Autor:in) / Mu, Dianrui (Autor:in) / Hua, Changchun (Autor:in) / Luo, Xi (Autor:in) / Zhang, Yu (Autor:in) / Sun, Fuchun (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.09.2024


    Format / Umfang :

    6730992 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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