控制输入受限的非完整移动机器人定时VFO控制设计。

IF 9.4 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Cybernetics Pub Date : 2025-03-08 DOI:10.1109/TCYB.2025.3564036

Rafał Mateusz Sobański;Maciej Marcin Michałek;Michael Defoort

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引用次数: 0

摘要

针对类独轮车非完整移动机器人，提出了一种定时矢量场定向控制律。考虑了存在控制输入约束和任务执行时间约束的设定点控制问题。该控制律基于VFO方法，该方法具有非振荡和可预测的单轮机器人瞬态时间演化的特点。基于李雅普诺夫理论对闭环动力学进行了形式化的稳定性分析，并给出了在存在控制输入约束时收敛时间上界的先验估计方法。最后，通过数值仿真和实验验证了控制性能。

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Fixed-Time VFO Control Design for Nonholonomic Mobile Robots With Constrained Control Inputs

This article presents a fixed-time vector-field-orientation (VFO) control law for unicycle-like nonholonomic mobile robots. We consider a set-point control problem in the presence of control inputs constraints and task-execution time constraints. The control law is based on the VFO methodology, which is characterized by nonoscillatory and well-predictable time evolution of transient states for unicycle-like robots. A formal stability analysis for the closed-loop dynamics is provided based on Lyapunov theory, and moreover, a method for a priori estimation of the upper bounds of the convergence time, in the presence of control input constraints, is presented. Finally, the control performance is illustrated by results of numerical simulations and experimental tests.

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来源期刊

IEEE Transactions on Cybernetics COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-COMPUTER SCIENCE, CYBERNETICS

CiteScore

25.40

自引率

11.00%

发文量

1869

期刊介绍： The scope of the IEEE Transactions on Cybernetics includes computational approaches to the field of cybernetics. Specifically, the transactions welcomes papers on communication and control across machines or machine, human, and organizations. The scope includes such areas as computational intelligence, computer vision, neural networks, genetic algorithms, machine learning, fuzzy systems, cognitive systems, decision making, and robotics, to the extent that they contribute to the theme of cybernetics or demonstrate an application of cybernetics principles.