A vector-type finite-time output-constrained control algorithm and its application to a mobile robot

Purpose The purpose of this paper is to investigate a vector-type finite-time control strategy with output constraints for first-order and second-order systems. Under the proposed controller, the system can be stabilized within a finite time and the output of the system is always maintained within the prescribed constraint bounds. Design/methodology/approach First, to prevent constraint violations, a piecewise barrier Lyapunov function (BLF) is formulated, which grows to infinity as its arguments approach prescribed limits. By embedding the BLF as a parameter into the design of finite-time controller, the constraints are ensured not to be violated. However, this resulted in a closed-loop system with coupled states, posing challenges for finite-time stability analysis. To tackle this issue, this paper introduces a vector-type fractional…