Tracking control of chained non‐holonomic systems with asymmetric function constraints and external disturbance

Abstract

Abstract For a class of chain non‐holonomic systems with external disturbance and function constraints, the tan‐type barrier Lyapunov function is used to solve the constraints of the system, and then the non‐linear disturbance observer is used to deal with the disturbance so that the disturbance error eventually converges exponentially. The control strategy designed by the backstepping method can effectively ensure that signals are bounded without violating the respective constraints. Through the simulation design of a three‐stage wheeled mobile robot, the effectiveness of the control scheme is verified again by the results.

Keywords

• function constraint
• disturbance observer
• chain nonholonomic systems