Autor:

Michałek, Maciej ; Przybylski, Mikołaj Jerzy

Współtwórca:

Okarma, Krzysztof - ed. ; Skrzypczyński, Piotr - ed. ; Stefanowski, Jerzy - ed.

Tytuł:

A fixed-time positional path-following control system for unicycle-like mobile robots with constrained inputs: design and robustness

Podtytuł:

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Tytuł publikacji grupowej:

AMCS, volume 36 (2026)

Temat i słowa kluczowe:

intelligent systems ; fixed-time control ; path following ; nonholonomic unicycle-like mobile robot ; constrained control inputs ; robustness

Abstract:

This paper presents a fixed-time solution to the positional path-following control task for unicycle-like mobile robots with constraints imposed on the control inputs. The proposed control system, designed for a guidance point located out of the robot Wheel` axle, guarantees local convergence of a positional error for a guidance point in finite time which is upper bounded by a constant (independent of an initial robot configuration). ; Apart from control derivation and a stability proof conducted for closed-loop dynamics, the paper includes also a robustness analysis which reveals how the fixed-time control function improves robustness of the closed-loop system to external perturbations affecting the control input channels of a robot. Numerical simulations and experimental results validate the concept, and also highlight some computational and implementation issues important in practical applications.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2026

Typ zasobu:

artykuł

DOI:

10.61822/amcs-2026-0028

Strony:

433-444

Źródło:

AMCS, volume 36, number 3 (2026)

Jezyk:

eng

Licencja CC BY 4.0:

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Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego