Fixed-Time Tracking Control of Chained-form Nonholonomic System with External Disturbances

Pipit Anggraeni , Michael Defoort (1) , Mohamed Djemai (1) , Zongyu Zuo

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper studies the fixed-time tracking problem for chained-form nonholonomic systems under matched external disturbances. The proposed method is to construct a tracking controller such that the tracking errors converge to zero for any arbitrary initial tracking error at fixed-time. First of all, the resulting tracking error dynamics is transformed into two second-order coupled subsystems. Then, the two subsystem are studied and fixed-time control laws are designed. An upper bound of the settling time, which only depends on the controller parameters is estimated regardless of the initial conditions. Finally, some simulation results are given to show the effectiveness of the proposed controller.

Domaines: Automatique / Robotique

Pipit Anggraeni, Michael Defoort, Mohamed Djemai, Zongyu Zuo. Fixed-Time Tracking Control of Chained-form Nonholonomic System with External Disturbances. 5th International Conference on Control Engineering and Information Technology, Dec 2017, Sousse, Tunisia. ⟨hal-03411386⟩