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Keywords = physical education auxiliary robot

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18 pages, 832 KB  
Article
Anti-Disturbance Target Tracking Control of Auxiliary Unmanned Ground Vehicles for Physical Education
by Lei Liu and Wei Yin
Electronics 2024, 13(23), 4620; https://doi.org/10.3390/electronics13234620 - 22 Nov 2024
Viewed by 872
Abstract
The auxiliary unmanned ground vehicle (AUGV) for physical education can significantly enhance the continuity and safety of training and competitions. However, obstacles and area boundary constraints present substantial challenges to the efficiency of the AUGV. This paper proposes an anti-disturbance target tracking control [...] Read more.
The auxiliary unmanned ground vehicle (AUGV) for physical education can significantly enhance the continuity and safety of training and competitions. However, obstacles and area boundary constraints present substantial challenges to the efficiency of the AUGV. This paper proposes an anti-disturbance target tracking control strategy for AUGV, enabling rapid tracking of out-of-bounds balls. In the guidance layer, we design safety constraints based on the exponentially stabilizing control Lyapunov function (ES-CLF) position constraint and control barrier function (CBF), and solve the expected convergence velocity guidance law through quadratic programming. Additionally, the expected motion direction of AUGV is determined using the expected combined velocity. In the control layer, we employ a nonlinear tracking differentiators (NLTD) to achieve finite-time estimation of the derivative of the guidance velocity signal, and observed the model parameter uncertainty and external environmental disturbances through a fixed time disturbance observer. Finally, a fixed-time control strategy is developed to achieve precise target tracking. Stability analysis and simulation results confirm the effectiveness of the proposed AUGV target tracking control strategy and the safety collision avoidance method. Full article
(This article belongs to the Section Systems & Control Engineering)
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