{"title":"基于有限时间扰动观测器的无人地面飞行器有限时间轨迹跟踪控制","authors":"","doi":"10.1016/j.jfranklin.2024.107222","DOIUrl":null,"url":null,"abstract":"<div><p>This paper studies the trajectory tracking problems of unmanned ground vehicle with model uncertainties and external disturbances. We propose a finite-time control method, in which the uncertainty and disturbance compensating is considered. To match the real motion scenarios of vehicles, the Frenet-coordinate system is used and the error dynamics equation is constructed. A new type of coordinate transformation is adopted to simplify the calculation of finite-time stability. Further, we design a new finite-time disturbance observer to deal with the model uncertainties and external disturbances. Based on this observer, the finite-time trajectory tracking controller is constructed by using a new integral-type Lyapunov function. It is theoretically proved that all tracking errors in the closed-loop system are finite-time stable. To verify the feasibility, simulation on the unmanned ground vehicle has been conducted.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7000,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Finite-time trajectory tracking control for unmanned ground vehicle based on finite-time disturbance observer\",\"authors\":\"\",\"doi\":\"10.1016/j.jfranklin.2024.107222\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>This paper studies the trajectory tracking problems of unmanned ground vehicle with model uncertainties and external disturbances. We propose a finite-time control method, in which the uncertainty and disturbance compensating is considered. To match the real motion scenarios of vehicles, the Frenet-coordinate system is used and the error dynamics equation is constructed. A new type of coordinate transformation is adopted to simplify the calculation of finite-time stability. Further, we design a new finite-time disturbance observer to deal with the model uncertainties and external disturbances. Based on this observer, the finite-time trajectory tracking controller is constructed by using a new integral-type Lyapunov function. It is theoretically proved that all tracking errors in the closed-loop system are finite-time stable. To verify the feasibility, simulation on the unmanned ground vehicle has been conducted.</p></div>\",\"PeriodicalId\":17283,\"journal\":{\"name\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.7000,\"publicationDate\":\"2024-08-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0016003224006434\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Franklin Institute-engineering and Applied Mathematics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0016003224006434","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Finite-time trajectory tracking control for unmanned ground vehicle based on finite-time disturbance observer
This paper studies the trajectory tracking problems of unmanned ground vehicle with model uncertainties and external disturbances. We propose a finite-time control method, in which the uncertainty and disturbance compensating is considered. To match the real motion scenarios of vehicles, the Frenet-coordinate system is used and the error dynamics equation is constructed. A new type of coordinate transformation is adopted to simplify the calculation of finite-time stability. Further, we design a new finite-time disturbance observer to deal with the model uncertainties and external disturbances. Based on this observer, the finite-time trajectory tracking controller is constructed by using a new integral-type Lyapunov function. It is theoretically proved that all tracking errors in the closed-loop system are finite-time stable. To verify the feasibility, simulation on the unmanned ground vehicle has been conducted.
期刊介绍:
The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.