Leader-follower formation control of Euler-Lagrange systems with limited field-of-view and saturating actuators: a case study for tractor-trailer wheeled mobile robots

DOI10.1016/J.EJCON.2023.100903OpenAlexW4386514361MaRDI QIDQ6152379FDOQ6152379

Authors: Amir Naderolasli, Khoshnam Shojaei, Abbas Chatraei 

Publication date: 13 February 2024

Published in: European Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.ejcon.2023.100903

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• scientific article; zbMATH DE number 7295088

zbMATH Keywords

dynamic surface controlbarrier Lyapunov functionEuler-Lagrange systemsfixed-time controltractor-trailer wheeled mobile robots

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and storage functions (93D30)

Cites Work

• Barrier Lyapunov functions for the control of output-constrained nonlinear systems
• Trajectory tracking of wheeled mobile robots using only Cartesian position measurements
• Robust finite-time consensus formation control for multiple nonholonomic wheeled mobile robots via output feedback
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• Distributed finite-time tracking of multiple Euler-Lagrange systems without velocity measurements
• Adaptive Fixed-Time Control for MIMO Nonlinear Systems With Asymmetric Output Constraints Using Universal Barrier Functions
• Distributed control of a network of single integrators with limited angular fields of view
• Approximation-based adaptive fault compensation backstepping control of fractional-order nonlinear systems: an output-feedback scheme
• Robust time-varying formation design for multiagent systems with disturbances: extended-state-observer method
• Reconstruction of admissible joint-references from a prescribed output-reference for the non-standard and generalized N-trailers
• Intelligent coordinated control of an autonomous tractor-trailer and a combine harvester
• Leader–Follower Formation Control With Prescribed Performance Guarantees
• Trajectory planning and robust tracking control for a class of active articulated tractor-trailer vehicle with on-axle structure
• Formulation of nonlinear control problems with actuator saturation as linear programs
• Nonlinear dynamic modeling of tractor-trailer mobile robots with consideration of wheels inertia and their optimal point-to point path planning

Cited In (2)

• Distributed bipartite time-varying formation tracking control with prescribed-time convergence for heterogeneous Euler-Lagrange systems
• Saturated observer-based adaptive neural network leader-following control of \(N\) tractors with \(n\)-trailers with a guaranteed performance

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