Safe trajectory tracking for nonlinear stochastic systems operating in obstacle-cluttered environments remains a significant challenge, as random disturbances and obstacle-induced constraints can simultaneously degrade tracking accuracy and threaten system safety. To overcome this issue, this article develops a safety-...
Experimental results demonstrate that the proposed Fixed-Time control scheme reduces the steady-state tracking errors and vibration suppression, and fully validate the superiority and robustness of the proposed control strategy in balancing rapid convergence with vibration suppression.
Nonlinear model predictive control (NMPC) is widely used in robotics due to its ability to handle nonlinear dynamics and explicitly enforce state and input constraints by solving an optimal control problem online. However, standard NMPC implementations typically rely on direct time discretization and evaluate costs and...
This paper studies the prescribed-time tracking control problem with output constraints for stochastic nonlinear systems over an infinite horizon, motivated by ship maneuvering dynamics. The steady-state tracking accuracy of existing methods is uncertain due to unknown system parameters, which may fail to meet high-pre...
Precise synchronous control of the double-lift overhead crane system is challenging due to inherent strong coupling, parameter variations, and complex uncertain disturbances. While existing model-based approaches rely heavily on precise system dynamics, which are difficult to obtain in practice, conventional model-free...
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