Tracking control of wheeled mobile robots via intermittent control

Xinyi He; Xiuping Han; Tengda Wei; Xiaodi Li; Xinyi He; Xiuping Han; Tengda Wei; Xiaodi Li

doi:10.3934/mbe.2024167

Mathematical Biosciences and Engineering

2024, Volume 21, Issue 3: 3774-3783. doi: 10.3934/mbe.2024167

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Tracking control of wheeled mobile robots via intermittent control

1.
School of Mathematics and Statistics, Shandong Normal University, Ji'nan 250014, China
2.
Research Center of System Theory and Application, Chongqing University of Posts and Telecommunications, Chongqing 400065, China

Academic Editor: Yang Kuang

Received: 06 December 2023 Revised: 18 January 2024 Accepted: 22 January 2024 Published: 18 February 2024

This paper was concerned with the trajectory tracking control of wheeled mobile robots using aperiodic intermittent control. By establishing the corresponding motion model of the wheeled mobile robot, a tracking control strategy was proposed based on the intermittent control approach and backstepping method. Compared to the controllers using continuous state feedback, the proposed control strategy was activated only on separate time intervals, which combined the features of closed- and open-loop control. An example was given to illustrate the effectiveness of the obtained result.
- wheeled mobile robot,
- intermittent control,
- trajectory tracking,
- impulsive control,
- Lyapunov function
Citation: Xinyi He, Xiuping Han, Tengda Wei, Xiaodi Li. Tracking control of wheeled mobile robots via intermittent control[J]. Mathematical Biosciences and Engineering, 2024, 21(3): 3774-3783. doi: 10.3934/mbe.2024167

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Abstract

This paper was concerned with the trajectory tracking control of wheeled mobile robots using aperiodic intermittent control. By establishing the corresponding motion model of the wheeled mobile robot, a tracking control strategy was proposed based on the intermittent control approach and backstepping method. Compared to the controllers using continuous state feedback, the proposed control strategy was activated only on separate time intervals, which combined the features of closed- and open-loop control. An example was given to illustrate the effectiveness of the obtained result.

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