2024/09/05 by Kang‐Kang Zhang, Zhang, Kang-Kang, Bin Zhou +5
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Vehicle Dynamics and Control Systems
paper · pdf · doi:10.48550/arxiv.2409.03337
openalex publication_date 2024/09/05 · openalex created_date 2024/10/19 · openalex updated_date 2026/07/28
This paper investigates the prescribed-time smooth control problem for a class of uncertain nonholonomic systems. With a novel smooth time-varying state transformation, the uncertain chained nonholonomic system is reformulated as an uncertain linear time-varying system. By fully utilizing the properties of a class of parametric Lyapunov equations and constructing time-varying Lyapunov-like functions, smooth time-varying high-gain state and output feedback controllers are designed. The states and controllers are proven to converge to zero at any prescribed time. The proposed smooth time-varying method combines the advantage of a time-varying high-gain function, which enhances control performance, and a smooth time-varying function that can drive the states to zero at the prescribed time. The effectiveness of the proposed methods is verified by a numerical example.