Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance
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 t...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-11-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/12/22/3544 |
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| _version_ | 1846153075785465856 |
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| author | Yong Wang Yunfeng Ji Wei Li Xi Fang |
| author_facet | Yong Wang Yunfeng Ji Wei Li Xi Fang |
| author_sort | Yong Wang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-76667850e30e45e39b5857bf9d7f55ea |
| institution | Kabale University |
| issn | 2227-7390 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-76667850e30e45e39b5857bf9d7f55ea2024-11-26T18:11:46ZengMDPI AGMathematics2227-73902024-11-011222354410.3390/math12223544Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient PerformanceYong Wang0Yunfeng Ji1Wei Li2Xi Fang3School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaSchool of Finance, Shanghai Lixin University of Accounting and Finance, Shanghai 201209, ChinaSchool of Finance, Shanghai Lixin University of Accounting and Finance, Shanghai 201209, ChinaIn 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.https://www.mdpi.com/2227-7390/12/22/3544adaptive fixed-time controlnonlinear systemsnonholonomic mobile robotsasymmetric constraints |
| spellingShingle | Yong Wang Yunfeng Ji Wei Li Xi Fang Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance Mathematics adaptive fixed-time control nonlinear systems nonholonomic mobile robots asymmetric constraints |
| title | Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance |
| title_full | Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance |
| title_fullStr | Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance |
| title_full_unstemmed | Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance |
| title_short | Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance |
| title_sort | fixed time event triggered control of nonholonomic mobile robots with uncertain dynamics and preassigned transient performance |
| topic | adaptive fixed-time control nonlinear systems nonholonomic mobile robots asymmetric constraints |
| url | https://www.mdpi.com/2227-7390/12/22/3544 |
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