A Discrete-Time Least-Squares Adaptive State Tracking Control Scheme With a Mobile-Robot System Study

• 成果类型: Article
• 署名作者: Zhao, Qianhong; Tao, Gang
• 署名单位: University of Virginia
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3580032
• 发表日期: 2025
• 关键词: feedback

摘要

This article develops an adaptive state tracking control scheme for discrete-time systems, using least-squares algorithms, as the new solution to the long-standing discrete-time adaptive state tracking control problem. The system stability and state tracking properties are proved mathematically. The developed adaptive state tracking control scheme, combined with a newly proposed collision avoidance mechanism, is applied to a multirobot system to achieve tracking objectives. Simulation results demonstrate its effectiveness in achieving state tracking and collision avoidance.