Work

Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance

Year: 2024

Type: article

Abstract: In this paper, a novel adaptive control scheme is proposed for the path-following problem of a nonholonomic mobile robot with uncertain dynamics based on barrier functions. To optimize communication resources, we integrate an event-triggered mechanism that avoids Zeno behavior and ensures that the tracking error of the closed-loop system converges to a small neighborhood around zero within a fixed time, while consistently satisfying predefined transient performance requirements. Extensive simulation studies demonstrate the effectiveness of the proposed approach and validate the theoretical results.

Source: Mathematics

DOI: 10.3390/math12223544

Authors: Yong Wang, Yunfeng Ji, Wei Li, Xi Fang

Institutions: University of Shanghai for Science and Technology, Shanghai Lixin University of Accounting and Finance

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,955

OpenAlex ID: W4404322352

FWCI: 0.315

Cites: 42

Cited by: 2

Related to: 10