Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance

Yong Wang, Yunfeng Ji, Wei Li () and Xi Fang
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Yong Wang: School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Yunfeng Ji: School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Wei Li: School of Finance, Shanghai Lixin University of Accounting and Finance, Shanghai 201209, China
Xi Fang: School of Finance, Shanghai Lixin University of Accounting and Finance, Shanghai 201209, China

Mathematics, 2024, vol. 12, issue 22, 1-17

Abstract: 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.

Keywords: adaptive fixed-time control; nonlinear systems; nonholonomic mobile robots; asymmetric constraints (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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