ESNO-based predefined-time trajectory tracking control for mobile manipulator with full-state constraints
Year: 2025
Type: article
Abstract: In this study, the problem of adaptive predefined-time trajectory tracking for mobile manipulator (MMR) subject to external disturbances and full-state constraints is addressed. Firstly, a novel ESN observer (ESNO) with guaranteed predefined-time convergence is proposed, incorporating an adaptive error compensation mechanism to enhance disturbance estimation accuracy. Secondly, an interval-based asymmetric prescribed performance control strategy with a tunable predefined-time prescribed performance function is developed, and its simplified structure reduces computational burden. Thirdly, a predefined-time adaptive filter is designed to avoid the “complexity explosion” problem. Finally, Lyapunov stability analysis verifies predefined-time convergence of all errors, while numerical simulations and physical MMR platform experiments verify the feasibility and superiority of the algorithm.
Source: Measurement and Control
Institutions: Shenzhen Polytechnic University, Guangdong Ocean University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,000
OpenAlex ID: W4417491668