Global Prescribed-Time Tracking Control Mobile Robot Systems With Performance Constrains

Abstract

This paper is concerned with the prescribed-time tracking control problem for mobile robot systems subject to performance constraints. In contrast to existing results on mobile robotic systems, which fail to achieve precise tracking, this study focuses on achieving error-free tracking control within a specific time interval, which is independent of system initial conditions as well as control parameters. Then, a novel state transformation is proposed to achieve global performance constrains control. Additionally, based on the Lyapunov’s theory, it is proved that the designed controller can make system states accurately track the given signal within a prescribed-time interval, while guaranteeing the boundedness of close-loop systems. Finally, the effectiveness of proposed control algorithm is verified by a simulation example.