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Volume 11 Issue 6
Jun.  2024

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2024  >  11(6): 1476-1484
Z. Chen, J. Tang, and  Z. Zuo,  “A novel prescribed-performance path-following problem for non-holonomic vehicles,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 6, pp. 1476–1484, Jun. 2024. doi: 10.1109/JAS.2024.124311
Citation: Z. Chen, J. Tang, and  Z. Zuo,  “A novel prescribed-performance path-following problem for non-holonomic vehicles,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 6, pp. 1476–1484, Jun. 2024. doi: 10.1109/JAS.2024.124311
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A Novel Prescribed-Performance Path-Following Problem for Non-Holonomic Vehicles

doi: 10.1109/JAS.2024.124311
Funds:  This work was supported by the National Natural Science Foundation of China (62073019)
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    Abstract

  • The issue of achieving prescribed-performance path following in robotics is addressed in this paper, where the aim is to ensure that a desired path within a specified region is accurately converged to by the controlled vehicle. In this context, a novel form of the prescribed performance guiding vector field is introduced, accompanied by a prescribed-time sliding mode control approach. Furthermore, the interdependence among the prescribed parameters is discussed. To validate the effectiveness of the proposed method, numerical simulations are presented to demonstrate the efficacy of the approach.

     

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    Highlights

    • A novel paradigm termed the Path-Prescribed Performance Following (PPPF) problem is introduced in this study. This problem delineates criteria for the desired performance in path following, affording users the flexibility to modulate its transitional processes accordingly
    • A guiding vector field adhering to prescribed-performance criteria is advanced to facilitate adaptable path following tasks, wherein it furnishes guidance for a controlled vehicle to navigate towards predefined path segments subsequent to a transitional phase. The incorporation of a pseudo-time parameter methodology serves to introduce the prescribed-time control strategy
    • Leveraging the prescribed-time sliding mode control approach, a novel path-following control framework is posited to propel a controlled vehicle towards specific segments of a designated trajectory. Serving as an initial endeavor, a solution is formulated for the prescribed-performance path-following control conundrum

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