Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

Kairui Chen, Yixiang Gu, Weicong Huang, Zhonglin Zhang, Zian Wang and Xiaofeng Wang ()
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Kairui Chen: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Yixiang Gu: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Weicong Huang: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Zhonglin Zhang: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Zian Wang: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Xiaofeng Wang: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China

Mathematics, 2024, vol. 12, issue 10, 1-25

Abstract: A fixed-time adaptive guaranteed performance tracking control is investigated for a category of nonholonomic mobile robots (NMRs) under asymmetric state constraints. For the sake of favorable transient and steady-state properties of the system, a prescribed performance function (PPF) is introduced and a transform function is further constructed. Based on the backstepping technique, an asymmetric barrier Lyapunov function is formulated to ensure the tracking errors converge within a human-specified time. On the foundation of this, the occupation of communication channel is effectively reduced by assigning an event-triggered mechanism (ETM) with relative threshold to the process of controller design. By utilizing the proposed control strategy, the NMR is capable of implementing the enemy dislodging mission while the enemy can always be caught by the NMR and the collision would never be presented. Finally, two simulation experiments are given to verify the effectiveness of the proposed scheme.

Keywords: fixed-time control; event-triggered mechanism; asymmetric barrier Lyapunov function; prescribed performance function (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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