Finite‐time tracking control of disturbed non‐holonomic systems with input saturation and state constraints: Theory and experiment

Abstract

Abstract This article investigates the finite‐time tracking control problem for disturbed non‐holonomic systems with input saturation and state constraints. Input saturation is ensured by utilizing saturated state feedback and designing auxiliary variables. A rigorous design procedure, which combines barrier Lyapunov function‐based backstepping and neural networks, is introduced to satisfy state constraints and overcome the influence of lumped disturbances. A finite‐time filter is developed to address the explosion of complexity problem. Together with relay switching, the designed saturated controller guarantees that the tracking errors converge to arbitrarily small neighbourhoods around zero within a finite time. Stability analysis indicates that all closed‐loop system signals maintain bounded, and the desired input and state constraints are not violated throughout the control process. To demonstrate the effectiveness of the proposed approach, simulation and experimental results on a wheeled mobile robot are presented.

Keywords

• mobile robots
• non‐linear control systems
• trajectory control