Practical Prescribed-Time Tracking Control for High-Order Nonholonomic Systems With Matched and Mismatched Uncertainties

IF 4.9 2区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Transactions on Circuits and Systems II: Express Briefs Pub Date : 2025-02-13 DOI:10.1109/TCSII.2025.3541963

Jiaping Qiang;Li Li;Yuanqing Xia;Xiangyi Ren;Yipeng Cao

引用次数: 0

Abstract

In this brief, a practical prescribed-time (PPT) tracking control method is proposed for a high-order nonholonomic system with matched and mismatched uncertainties. A time-varying constraining function is employed to flexibly adjust constraint boundary of output. Then, a distributed extended state observer (ESO) is presented to estimate both matched and mismatched uncertainties. A backstepping controller is proposed to guarantee that the tracking error system is PPT stable. Computational explosion caused by the backstepping controller is effectively avoided by a second-order tracking differentiator. Finally, effectiveness of the proposed method is verified by an experiment on a wheeled mobile robot (WMR).

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具有匹配和不匹配不确定性的高阶非完整系统的实用规定时间跟踪控制

本文针对具有匹配不确定和不匹配不确定的高阶非完整系统，提出了一种实用的规定时间跟踪控制方法。采用时变约束函数灵活调整输出约束边界。然后，提出了一种分布式扩展状态观测器（ESO）来估计匹配和不匹配的不确定性。为了保证跟踪误差系统的PPT稳定，提出了一种反步控制器。利用二阶跟踪微分器有效地避免了反步控制器引起的计算量爆炸。最后，通过轮式移动机器人的实验验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Circuits and Systems II: Express Briefs 工程技术-工程：电子与电气

CiteScore

7.90

自引率

20.50%

发文量

883

审稿时长

3.0 months

期刊介绍： TCAS II publishes brief papers in the field specified by the theory, analysis, design, and practical implementations of circuits, and the application of circuit techniques to systems and to signal processing. Included is the whole spectrum from basic scientific theory to industrial applications. The field of interest covered includes: Circuits: Analog, Digital and Mixed Signal Circuits and Systems Nonlinear Circuits and Systems, Integrated Sensors, MEMS and Systems on Chip, Nanoscale Circuits and Systems, Optoelectronic Circuits and Systems, Power Electronics and Systems Software for Analog-and-Logic Circuits and Systems Control aspects of Circuits and Systems.