Prescribed-Time Fractional Order Control of DWR via Time-Varying Scaling Function
This study focuses on a differential wheeled robot’s (DWR) prescribed-time fractional order position control. Firstly, based on the kinematic model of DWR, a distance-related orientation error is designed using the inverse sine function. Based on this, an improved linear velocity constraint function...
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| Format: | Article |
| Language: | English |
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Wiley
2023-01-01
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| Series: | International Journal of Rotating Machinery |
| Online Access: | http://dx.doi.org/10.1155/2023/6622657 |
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| _version_ | 1850172758145630208 |
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| author | Pengfei Zhang Qiyuan Chen Ye Chen |
| author_facet | Pengfei Zhang Qiyuan Chen Ye Chen |
| author_sort | Pengfei Zhang |
| collection | DOAJ |
| description | This study focuses on a differential wheeled robot’s (DWR) prescribed-time fractional order position control. Firstly, based on the kinematic model of DWR, a distance-related orientation error is designed using the inverse sine function. Based on this, an improved linear velocity constraint function is proposed. Compared with existing methods, while ensuring the correlation between velocity and orientation error, the multibalance point risk caused by large angle errors is avoided. Then, a prescribed-time fractional order position controller based on a time-varying scaling function is proposed to stabilize the kinematic system of DWR in the prescribed time. This controller can stabilize the position control system of the DWR in a prescribed time by adjusting the prescribed-time parameter, avoiding the infinite gain risk in traditional prescribed-time controllers. Finally, through numerical simulation, we verify that the proposed control law can converge the system status of DWR to the bounded interval in the prescribed time. |
| format | Article |
| id | doaj-art-d4eefbeb85ad40c398cc9d14a2644037 |
| institution | OA Journals |
| issn | 1542-3034 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Rotating Machinery |
| spelling | doaj-art-d4eefbeb85ad40c398cc9d14a26440372025-08-20T02:20:00ZengWileyInternational Journal of Rotating Machinery1542-30342023-01-01202310.1155/2023/6622657Prescribed-Time Fractional Order Control of DWR via Time-Varying Scaling FunctionPengfei Zhang0Qiyuan Chen1Ye Chen2School of EngineeringSchool of EngineeringSchool of EngineeringThis study focuses on a differential wheeled robot’s (DWR) prescribed-time fractional order position control. Firstly, based on the kinematic model of DWR, a distance-related orientation error is designed using the inverse sine function. Based on this, an improved linear velocity constraint function is proposed. Compared with existing methods, while ensuring the correlation between velocity and orientation error, the multibalance point risk caused by large angle errors is avoided. Then, a prescribed-time fractional order position controller based on a time-varying scaling function is proposed to stabilize the kinematic system of DWR in the prescribed time. This controller can stabilize the position control system of the DWR in a prescribed time by adjusting the prescribed-time parameter, avoiding the infinite gain risk in traditional prescribed-time controllers. Finally, through numerical simulation, we verify that the proposed control law can converge the system status of DWR to the bounded interval in the prescribed time.http://dx.doi.org/10.1155/2023/6622657 |
| spellingShingle | Pengfei Zhang Qiyuan Chen Ye Chen Prescribed-Time Fractional Order Control of DWR via Time-Varying Scaling Function International Journal of Rotating Machinery |
| title | Prescribed-Time Fractional Order Control of DWR via Time-Varying Scaling Function |
| title_full | Prescribed-Time Fractional Order Control of DWR via Time-Varying Scaling Function |
| title_fullStr | Prescribed-Time Fractional Order Control of DWR via Time-Varying Scaling Function |
| title_full_unstemmed | Prescribed-Time Fractional Order Control of DWR via Time-Varying Scaling Function |
| title_short | Prescribed-Time Fractional Order Control of DWR via Time-Varying Scaling Function |
| title_sort | prescribed time fractional order control of dwr via time varying scaling function |
| url | http://dx.doi.org/10.1155/2023/6622657 |
| work_keys_str_mv | AT pengfeizhang prescribedtimefractionalordercontrolofdwrviatimevaryingscalingfunction AT qiyuanchen prescribedtimefractionalordercontrolofdwrviatimevaryingscalingfunction AT yechen prescribedtimefractionalordercontrolofdwrviatimevaryingscalingfunction |