Relay-Switching-Based Fixed-Time Tracking Controller for Nonholonomic State-Constrained Systems:Design and Experiment  

作　　者：Zhongcai Zhang Jinshan Bian Kang Wu 

机构地区：[1]the School of Engineering,Qufu Normal University,Rizhao 276826,China [2]the School of Internet of Things Engineering,Jiangnan University,Wuxi 214122,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第8期1778-1780,共3页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(62173207,62003148);the China Postdoctoral Science Foundation(2021M691277);the Youth Innovation Team Project of Colleges and Universities in Shandong Province(2022KJ176)。

摘　　要：Dear Editor,This letter investigates the fixed-time trajectory tracking controller design for nonholonomic chained systems with static state constraints.Firstly,a fixed-time tracking control law is given to carry out relay switching,which divides the controller development process into two stages.

关 键 词：Fixed LETTER NONHOLONOMIC 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]