Next Article in Journal
Nonlinear Analysis of the Multi-Layered Nanoplates
Next Article in Special Issue
An Improved Hierarchical Optimization Framework for Walking Control of Underactuated Humanoid Robots Using Model Predictive Control and Whole Body Planner and Controller
Previous Article in Journal
Asymptotic and Oscillatory Analysis of Second-Order Differential Equations with Distributed Deviating Arguments
Previous Article in Special Issue
Path Planning Method and Control of Mobile Robot with Uncertain Dynamics Based on Improved Artificial Potential Field and Its Application in Health Monitoring
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Mathematics
Volume 12
Issue 22
10.3390/math12223544
mathematics-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
Article

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

by
Yong Wang
1,
Yunfeng Ji
1,
Wei Li
2,* and
Xi Fang
2
1
School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
2
School of Finance, Shanghai Lixin University of Accounting and Finance, Shanghai 201209, China
*
Author to whom correspondence should be addressed.
Mathematics 2024, 12(22), 3544; https://doi.org/10.3390/math12223544
Submission received: 1 October 2024 / Revised: 8 November 2024 / Accepted: 12 November 2024 / Published: 13 November 2024
(This article belongs to the Special Issue Advanced Control of Complex Dynamical Systems and Robotics with Applications)
Browse Figures
Versions Notes

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 adaptive fixed-time control; nonlinear systems; nonholonomic mobile robots; asymmetric constraints

Share and Cite

MDPI and ACS Style

Wang, Y.; Ji, Y.; Li, W.; Fang, X. Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance. Mathematics 2024, 12, 3544. https://doi.org/10.3390/math12223544

AMA Style

Wang Y, Ji Y, Li W, Fang X. Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance. Mathematics. 2024; 12(22):3544. https://doi.org/10.3390/math12223544

Chicago/Turabian Style

Wang, Yong, Yunfeng Ji, Wei Li, and Xi Fang. 2024. "Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance" Mathematics 12, no. 22: 3544. https://doi.org/10.3390/math12223544

APA Style

Wang, Y., Ji, Y., Li, W., & Fang, X. (2024). Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance. Mathematics, 12(22), 3544. https://doi.org/10.3390/math12223544

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop