A Novel Prescribed-Performance Path-Following Problem for Non-Holonomic Vehicles

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.