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1 Prace Naukowe Politechniki Warszawskiej. Elektronika

1 2022

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Fixed-time VFO control for a unicycle

Michałek Maciej M., Sobański Rafał M., Defoort Michael

Prace Naukowe Politechniki Warszawskiej. Elektronika

2022

z. 197, t. 1

191-200

A conventional application of the Vector-Field-Orientation (VFO) control design method to the set-point control problem leads to controllers with an infinite-time convergence of the stabilization errors. In this paper we try to extend a family of VFO control laws, applicable to unicycle kinematics, with a version which makes the stabilization errors finite-time convergent to zero where, additionally, a settling time is upper bounded by a constant which does not depend on an initial unicycle configuration. This kind of the control problem is called the fixed-time stabilization. Under assumption that the control inputs of the unicycle are unrestricted to any closed subset of R2, we show how to modify the finite-time VFO controller to obtain a bounded fixed-time control law. A control performance obtained with the proposed fixed-time VFO controller has been illustrated by simulation results.