Fixed-Time VFO Control Design for Nonholonomic Mobile Robots With Constrained Control Inputs
针对单轮型非完整移动机器人，提出一种固定时间向量场定向控制律，解决存在控制输入约束和任务时间约束下的定点控制问题，并通过仿真和实验验证性能。
This article presents a fixed-time vector-field-orientation (VFO) control law for unicycle-like nonholonomic mobile robots. We consider a set-point control problem in the presence of control inputs constraints and task-execution time constraints. The control law is based on the VFO methodology, which is characterized by nonoscillatory and well-predictable time evolution of transient states for unicycle-like robots. A formal stability analysis for the closed-loop dynamics is provided based on Lyapunov theory, and moreover, a method for a priori estimation of the upper bounds of the convergence time, in the presence of control input constraints, is presented. Finally, the control performance is illustrated by results of numerical simulations and experimental tests.