{"title":"Tracking control of chained non-holonomic systems with asymmetric function constraints and external disturbance","authors":"Jing Yang, Yuqiang Wu","doi":"10.1049/cth2.12659","DOIUrl":null,"url":null,"abstract":"<p>For a class of chain non-holonomic systems with external disturbance and function constraints, the tan-type barrier Lyapunov function is used to solve the constraints of the system, and then the non-linear disturbance observer is used to deal with the disturbance so that the disturbance error eventually converges exponentially. The control strategy designed by the backstepping method can effectively ensure that signals are bounded without violating the respective constraints. Through the simulation design of a three-stage wheeled mobile robot, the effectiveness of the control scheme is verified again by the results.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 10","pages":"1223-1231"},"PeriodicalIF":2.2000,"publicationDate":"2024-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12659","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Control Theory and Applications","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/cth2.12659","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
For a class of chain non-holonomic systems with external disturbance and function constraints, the tan-type barrier Lyapunov function is used to solve the constraints of the system, and then the non-linear disturbance observer is used to deal with the disturbance so that the disturbance error eventually converges exponentially. The control strategy designed by the backstepping method can effectively ensure that signals are bounded without violating the respective constraints. Through the simulation design of a three-stage wheeled mobile robot, the effectiveness of the control scheme is verified again by the results.
对于一类具有外部扰动和函数约束的链式非自主系统，利用 tan 型障碍 Lyapunov 函数求解系统的约束条件，然后利用非线性扰动观测器来处理扰动，从而使扰动误差最终呈指数收敛。采用反步法设计的控制策略能有效确保信号有界，同时又不违反相应的约束条件。通过对一个三级轮式移动机器人的仿真设计，结果再次验证了控制方案的有效性。
期刊介绍：
IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces.
Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed.
Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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