Trajectory Tracking Control for Omnidirectional Mobile Robots with Full-State Constraints

2017 ◽  
pp. 605-612
Author(s):  
Wenhao Zheng ◽  
Yingmin Jia
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
State Constraints ◽  
Trajectory Tracking Control ◽  
Full State ◽  
Full State Constraints

scholarly journals Trajectory tracking control of unmanned surface vessels with input saturation and full-state constraints

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880811 ◽  
Author(s):  
Hongde Qin ◽  
Chengpeng Li ◽  
Yanchao Sun ◽  
Zhongchao Deng ◽  
Yuhan Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
State Constraints ◽  
Input Saturation ◽  
Adaptive Method ◽  
Trajectory Tracking Control ◽  
Control Approach ◽  
Surface Vessels ◽  
Full State ◽  
Full State Constraints

This article investigates the trajectory tracking control problem for unmanned surface vessels with input saturation and full-state constraints. The barrier Lyapunov function is used to solve the problem of state constraints, and the adaptive method is employed to handle the unknown random disturbances and saturation problems. The proposed control approach can guarantee that the control law and signals of closed-loop system are uniformly bounded and achieve the asymptotic tracking. Finally, simulation studies are provided to show the effectiveness of the proposed method.

Adaptive NN-based finite-time tracking control for wheeled mobile robots with time-varying full state constraints

2020 ◽  
Vol 403 ◽  
pp. 421-430
Author(s):  
Shu Li ◽  
Qingfan Wang ◽  
Liang Ding ◽  
Xin An ◽  
Haibo Gao ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Tracking Control ◽  
State Constraints ◽  
Time Varying ◽  
Wheeled Mobile Robots ◽  
Full State ◽  
Full State Constraints
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