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Trajectory Tracking Control Design for Nonholonomic Systems with Full-state Constraints

  • Control Theory and Applications
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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.

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Authors and Affiliations

  1. Department of Engineering, Qufu Normal University, Rizhao, 276826, China

    Zhongcai Zhang, Wenli Cheng & Yuqiang Wu

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  1. Zhongcai Zhang
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  2. Wenli Cheng
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  3. Yuqiang Wu
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Correspondence to Zhongcai Zhang.

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Recommended by Editor Jessie (Ju H.) Park.

This work was supported by the National Natural Science Foundation of China (61673243, 61803228 and 61703232), the China Postdoctoral Science Foundation (2018M632645), the Major Scientific and Technological Innovation Project in Shandong Province (2019JZZY011111), and by the Key Laboratory for Robot & Intelligent Technology of Shandong Province.

Zhongcai Zhang received his M.S. degree in automatic engineering from Qufu Normal University, Qufu, China, in 2013 and a Ph.D. degree in automatic control from Southeast University, Nanjing, China, in 2016. He is currently an associate professor with the School of Engineering, Qufu Normal University, Rizhao, China. His current research interests include nonlinear system control, nonholonomic system control, underactuated system control, adaptive theory, and robot applications.

Wenli Cheng received her B.S. degree in automation from Qufu Normal University, Qufu China in 2017 where she is currently working toward an M.S. degree in the School of Engineering. Her research interests include the control of underactuated systems and wheeled mobile robots.

Yuqiang Wu received his M.S. degree in automatic engineering from Qufu Normal University, Qufu, China, in 1988 and a Ph.D. degree in automatic control from Southeast University, Nanjing, China, in 1994. He is currently a Professor with the School of Engineering, Qufu Normal University, Rizhao, China. His current research interests include variable structure control, switching control, nonlinear system control, stochastic systems, and process control.

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Zhang, Z., Cheng, W. & Wu, Y. Trajectory Tracking Control Design for Nonholonomic Systems with Full-state Constraints. Int. J. Control Autom. Syst. 19, 1798–1806 (2021). https://doi.org/10.1007/s12555-020-0225-z

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  • DOI: https://doi.org/10.1007/s12555-020-0225-z

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