IEEE/CAA Journal of Automatica Sinica
Citation: | W. Wu, D. Wu, Y. Zhang, S. Chen, and W. Zhang, “Safety-critical trajectory tracking for mobile robots with guaranteed performance,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 9, pp. 2033–2035, Sept. 2024. doi: 10.1109/JAS.2023.123864 |
[1] |
J. Wang, J. Wang, and Q.-L. Han, “Receding-horizon trajectory planning for under-actuated autonomous vehicles based on collaborative neurodynamic optimization,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 11, pp. 1909–1923, 2022. doi: 10.1109/JAS.2022.105524
|
[2] |
Z. Peng, J. Wang, D. Wang, and Q.-L. Han, “An overview of recent advances in coordinated control of multiple autonomous surface vehicles,” IEEE Trans. Ind. Informat., vol. 17, no. 2, pp. 732–745, 2021. doi: 10.1109/TII.2020.3004343
|
[3] |
T. Liu and Z.-P. Jiang, “Distributed formation control of nonholonomic mobile robots without global position measurements,” Automatica, vol. 49, no. 2, pp. 592–600, 2013. doi: 10.1016/j.automatica.2012.11.031
|
[4] |
Z. Li, C. Yang, C.-Y. Su, J. Deng, and W. Zhang, “Vision-based model predictive control for steering of a nonholonomic mobile robot,” IEEE Trans. Control Syst. Technol., vol. 24, no. 2, pp. 553–564, 2015.
|
[5] |
X. Ge, Q.-L. Han, J. Wang, and X.-M. Zhang, “A scalable adaptive approach to multi-vehicle formation control with obstacle avoidance,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 6, pp. 990–1004, 2021.
|
[6] |
C. P. Bechlioulis and G. A. Rovithakis, “Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance,” IEEE Trans. Autom. Control, vol. 53, no. 9, pp. 2090–2099, 2008. doi: 10.1109/TAC.2008.929402
|
[7] |
M. Chen, “Disturbance attenuation tracking control for wheeled mobile robots with skidding and slipping,” IEEE Trans. Ind. Electron., vol. 64, no. 4, pp. 3359–3368, 2016.
|
[8] |
D. Fu, J. Huang, and H. Yin, “Controlling an uncertain mobile robot with prescribed performance,” Nonlinear Dyn., vol. 106, no. 3, pp. 2347–2362, 2021. doi: 10.1007/s11071-021-06899-x
|
[9] |
W. Wu, Y. Zhang, W. Zhang, and W. Xie, “Distributed finite-time performance-prescribed time-varying formation control of autonomous surface vehicles with saturated inputs,” Ocean Eng., vol. 266, p. 112866, 2022. doi: 10.1016/j.oceaneng.2022.112866
|
[10] |
K. Lu, S.-L. Dai, and X. Jin, “Fixed-time rigidity-based formation maneuvering for nonholonomic multirobot systems with prescribed performance,” IEEE Trans. Cybern., vol. 54, no. 4, pp. 2129–2141, 2024. doi: 10.1109/TCYB.2022.3226297
|
[11] |
S. He, M. Wang, S. Dai, and F. Luo, “Leader-follower formation control of USVs with prescribed performance and collision avoidance,” IEEE Trans. Ind. Informat., vol. 15, no. 1, pp. 572–581, 2019. doi: 10.1109/TII.2018.2839739
|
[12] |
S.-L. Dai, K. Lu, and X. Jin, “Fixed-time formation control of unicycle-type mobile robots with visibility and performance constraints,” IEEE Trans. Ind. Electron., vol. 68, no. 12, pp. 12615–12625, 2020.
|
[13] |
A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs for safety critical systems,” IEEE Trans. Autom. Control, vol. 62, no. 8, pp. 3861–3876, 2016.
|
[14] |
L. Wang, A. D. Ames, and M. Egerstedt, “Safety barrier certificates for collisions-free multirobot systems,” IEEE Trans. Robot., vol. 33, no. 3, pp. 661–674, 2017. doi: 10.1109/TRO.2017.2659727
|
[15] |
S. Gao, Z. Peng, H. Wang, L. Liu, and D. Wang, “Safety-critical model-free control for multi-target tracking of USVs with collision avoidance,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 7, pp. 1323–1326, 2022. doi: 10.1109/JAS.2022.105707
|
[16] |
N. Gu, D. Wang, Z. Peng, and J. Wang, “Safety-critical containment maneuvering of underactuated autonomous surface vehicles based on neurodynamic optimization with control barrier functions,” IEEE Trans. Neural Netw. Learn. Syst., vol. 34, no. 6, pp. 2882–2895, 2023. doi: 10.1109/TNNLS.2021.3110014
|
[17] |
W. Wu, Y. Zhang, W. Zhang, and W. Xie, “Output-feedback finite-time safety-critical coordinated control of path-guided marine surface vessels based on neurodynamic optimization,” IEEE Trans. Syst. Man,Cybern.,Syst., vol. 53, no. 3, pp. 1788–1800, 2023. doi: 10.1109/TSMC.2022.3205637
|
[18] |
W. Wu, Z. Peng, L. Liu, and D. Wang, “A general safety-certified cooperative control architecture for interconnected intelligent surface vehicles with applications to vessel train,” IEEE Trans. Intell. Veh., vol. 7, no. 3, pp. 627–637, 2022. doi: 10.1109/TIV.2022.3168974
|
[19] |
N. Gu, Z. Peng, D. Wang, and F. Zhang, “Path-guided containment maneuvering of mobile robots: Theory and experiments,” IEEE Trans. Ind. Electron., vol. 68, no. 8, pp. 7178–7187, 2020.
|
[20] |
S.-L. Dai, S. He, M. Wang, and C. Yuan, “Adaptive neural control of underactuated surface vessels with prescribed performance guarantees,” IEEE Trans. Neural Netw. Learn. Syst., vol. 30, no. 12, pp. 3686–3698, 2018.
|
[21] |
W. Wu, Z. Peng, D. Wang, L. Liu, and Q.-L. Han, “Network-based line-of-sight path tracking of underactuated unmanned surface vehicles with experiment results,” IEEE Trans. Cybern., vol. 52, no. 10, pp. 10937–10947, 2022. doi: 10.1109/TCYB.2021.3074396
|
[22] |
R. Ji, D. Li, J. Ma, and S. S. Ge, “Saturation-tolerant prescribed control of mimo systems with unknown control directions,” IEEE Trans. Fuzzy Syst., vol. 30, no. 12, pp. 5116–5127, 2022. doi: 10.1109/TFUZZ.2022.3166244
|
[23] |
L. Liu, Y. Xu, Z. Huang, H. Wang, and A. Wang, “Safe cooperative path following with relative-angle-based collision avoidance for multiple underactuated autonomous surface vehicles,” Ocean Eng., vol. 258, p. 111670, 2022. doi: 10.1016/j.oceaneng.2022.111670
|
[24] |
H. K. Khalil, Nonlinear Control. London, UK: Pearson, 2015.
|