公开(公告)号：US20250021110A1

公开(公告)日：2025-01-16

申请号：US18610243

申请日：2024-03-19

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Xianbo Xiang ,  Xinyang Xiong ,  Shaolong Yang ,  Gong Xiang ,  Guohua Xu

IPC: G05D1/689 ,  G05D109/30

Abstract: The disclosure provides a method and system for trajectory tracking control of a vehicle-manipulator coupling system with finite time prescribed performance. Specifically, the trajectory tracking error of the vehicle-manipulator coupling system is obtained. A finite time performance function is designed to constrain the trajectory tracking error. In a case the constraint conditions corresponding to the finite time performance function are satisfied, the trajectory tracking error is converted to obtain a transformed error. The sliding mode surface is designed based on the transformed error to control the transformed error to converge in a finite time, and the external disturbance of the vehicle-manipulator coupling system is observed based on non-linear disturbance observer. The control input of the vehicle-manipulator coupling system is designed based on the sliding mode surface and the non-linear disturbance observer output. This ensures that the vehicle-manipulator coupling system can be controlled to operate precisely along the desired trajectory.