Practical Prescribed-Time Tracking Control for High-Order Nonholonomic Systems With Matched and Mismatched Uncertainties

Jiaping Qiang; Li Li; Yuanqing Xia; Xiangyi Ren; Yipeng Cao

doi:10.1109/TCSII.2025.3541963

Practical Prescribed-Time Tracking Control for High-Order Nonholonomic Systems With Matched and Mismatched Uncertainties

Jiaping Qiang, Li Li^*, Yuanqing Xia, Xiangyi Ren, Yipeng Cao

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

Abstract

In this brief, a practical prescribed-time (PPT) tracking control method is proposed for a high-order nonholonomic system with matched and mismatched uncertainties. A time-varying constraining function is employed to flexibly adjust constraint boundary of output. Then, a distributed extended state observer (ESO) is presented to estimate both matched and mismatched uncertainties. A backstepping controller is proposed to guarantee that the tracking error system is PPT stable. Computational explosion caused by the backstepping controller is effectively avoided by a second-order tracking differentiator. Finally, effectiveness of the proposed method is verified by an experiment on a wheeled mobile robot (WMR).

Original language	English
Pages (from-to)	588-592
Number of pages	5
Journal	IEEE Transactions on Circuits and Systems II: Express Briefs
Volume	72
Issue number	4
DOIs	https://doi.org/10.1109/TCSII.2025.3541963
Publication status	Published - 2025
Externally published	Yes

Keywords

High-order nonholonomic system
Matched and mismatched uncertainties
Practical prescribed-time tracking control
Wheeled mobile robot

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10.1109/TCSII.2025.3541963

Cite this

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abstract = "In this brief, a practical prescribed-time (PPT) tracking control method is proposed for a high-order nonholonomic system with matched and mismatched uncertainties. A time-varying constraining function is employed to flexibly adjust constraint boundary of output. Then, a distributed extended state observer (ESO) is presented to estimate both matched and mismatched uncertainties. A backstepping controller is proposed to guarantee that the tracking error system is PPT stable. Computational explosion caused by the backstepping controller is effectively avoided by a second-order tracking differentiator. Finally, effectiveness of the proposed method is verified by an experiment on a wheeled mobile robot (WMR).",

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AU - Cao, Yipeng

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Practical Prescribed-Time Tracking Control for High-Order Nonholonomic Systems With Matched and Mismatched Uncertainties

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