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

作　　者：Zirui Chen Jingchuan Tang Zongyu Zuo 

机构地区：[1]Seventh Research Division,Beihang University(BUAA),Beijing 100191,China [2]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第6期1476-1484,共9页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(62073019)。

摘　　要：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 accu-rately 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 con-trol approach.Furthermore,the interdependence among the pre-scribed parameters is discussed.To validate the effectiveness of the proposed method,numerical simulations are presented to demonstrate the efficacy of the approach.

关 键 词：Guiding vector field non-holonomic vehicle path following prescribed performance sliding mode control 

分 类 号：U492.22[交通运输工程—交通运输规划与管理]