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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2024  > In Press, Accepted Manuscript
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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