Paper Info
Title
A Lyapunov-Based Optimal Integral Finite-Time Tracking Control Approach for Asymmetric Nonholonomic Robotic Systems
Abstract
This study suggests a control Lyapunov-based optimal integral terminal sliding mode control (ITSMC) technique for tracker design of asymmetric nonholonomic robotic systems in the existence of external disturbances. The design procedure is based on the control Lyapunov function (CLF) approach. Hence, the output tracking problem is solved by combining the ITSMC with optimal control. The CLF synthesizes a nonlinear optimal control input for the nominal system. Once the control system's states lie far away from the operating point, it is activated to drive them toward the equilibrium point optimally. However, on the condition that the system perturbations are the main factor, the ITSMC would be designed to take over in the vicinity of the equilibrium point. Accordingly, the control goals, such as robustness and precise control, are warranted in the perturbed system. The usefulness of the suggested method is demonstrated with a wheeled mobile robot via a simulation study.
Year
DOI
Venue
2021
10.3390/sym13122367
SYMMETRY-BASEL
Keywords
DocType
Volume
nonholonomic system, asymmetry, optimal control, sliding mode control, robotics, finite-time control
Journal
13
Issue
Citations 
PageRank 
12
0
0.34
References 
Authors
0
7
Name
Order
Citations
PageRank
Khalid Alattas122.38
Saleh Mobayen200.34
Wudhichai Assawinchaichote301.69
Jihad H. Asad400.68
Jan Awrejcewicz500.34
Ayman A. Aly601.35
Abdulaziz H. Alghtani700.34