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

2021 ◽  
Vol 19 (5) ◽  
pp. 1798-1806
Author(s):  
Zhongcai Zhang ◽  
Wenli Cheng ◽  
Yuqiang Wu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
State Constraints ◽  
Control Design ◽  
Nonholonomic Systems ◽  
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.

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