控制理论(社会学)
非完整系统
控制器(灌溉)
控制工程
跟踪(教育)
计算机科学
过程(计算)
控制系统
跟踪误差
有界函数
控制(管理)
工程类
机器人
移动机器人
数学
人工智能
生物
农学
操作系统
电气工程
数学分析
教育学
心理学
作者
Yongchang Xu,Yuhua Cong,Changda Xing,Zhisheng Wang
标识
DOI:10.1109/tii.2024.3371060
摘要
In this presented work, a new tracking control strategy is designed for a kind of nonholonomic system under external disturbances. First, the whole system is divided into two design stages by using the relay switching technique. Then, using state transformations, the two primitive subsystems are converted into unconstrained systems for which tracking controllers are designed based on dynamic surface control. Different from most existing finite-time control strategies and fixed-time control strategies, our controllers are able to control the tracking error within a specified accuracy within a specified time, starting from anywhere, without changing the control structure/parameters. Meanwhile, all closed-loop signals keep bounded in the whole control process. Extensive computer simulation and physical experiments have been given to validate good performance of the designed controller.
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