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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Yong Wang & Yunfeng Ji & Wei Li & Xi Fang, 2024. "Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance," Mathematics, MDPI, vol. 12(22), pages 1-17, November.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:22:p:3544-:d:1520036
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    References listed on IDEAS

    as
    1. Lixiong Lin & Zhiping Xu & Jiachun Zheng, 2023. "Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots," Mathematics, MDPI, vol. 11(12), pages 1-21, June.
    2. Yuan Li & Yuyang Cai & Yong Wang & Wei Li & Gang Wang, 2024. "Simultaneous Tracking and Stabilization of Nonholonomic Wheeled Mobile Robots under Constrained Velocity and Torque," Mathematics, MDPI, vol. 12(13), pages 1-17, June.
    Full references (including those not matched with items on IDEAS)

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