Class Of Uncertain Nonholonomic Systems Research Articles

Partial‐state feedback adaptive stabilization for a class of uncertain nonholonomic systems

Partial‐state feedback adaptive stabilization for a class of uncertain nonholonomic systems

Finite-time stabilisation for a class of output-constrained nonholonomic systems with its application

ABSTRACTThis paper studies the problem of finite-time stabilisation for a class of uncertain nonholonomic systems in chained form with output constraint. A nonlinear mapping is first introduced to transform the output-constrained system into a new unconstrained one. Then, by employing the adding a power integrator technique and switching control strategy, a state feedback controller is successfully constructed to render that the states of closed-loop system converge to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of finite-time parking a unicycle-type mobile robot is tackled. Simulation results are given to demonstrate the effectiveness of the proposed method.

Partial-state Feedback Stabilization for a Class of Generalized Nonholonomic Systems with ISS Dynamic Uncertainties

In this paper, the problem of global stabilization control via partial-state feedback is addressed for a class of uncertain nonholonomic systems with the disturbed virtual control directions. The investigated nonholonomic system has the input-to-state stable (ISS) dynamic uncertainties. The small gain theorem and the changing supply function technique are employed to derive a global stabilization controller. Additionally, we develop a switching control strategy in order to get around the smooth stabilization burden associated with nonholonomic systems. The simulation results illustrate the efficacy of the presented algorithm.

Finite-time stabilization for a class of nonholonomic feedforward systems subject to inputs saturation

This paper studies the problem of finite-time stabilization by state feedback for a class of uncertain nonholonomic systems in feedforward-like form subject to inputs saturation. Under the weaker homogeneous condition on systems growth, a saturated finite-time control scheme is developed by exploiting the adding a power integrator method, the homogeneous domination approach and the nested saturation technique. Together with a novel switching control strategy, the designed saturated controller guarantees that the states of closed-loop system are regulated to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of saturated finite-time control for vertical wheel on rotating table is solved. Simulation results are given to demonstrate the effectiveness of the proposed method.

Saturated finite-time stabilization of uncertain nonholonomic systems in feedforward-like form and its application

This paper investigates the problem of finite-time stabilization by state feedback for a class of uncertain nonholonomic systems with inputs saturation. Comparing with the existing relevant literature, a distinguishing feature of the systems under investigation is that the x-subsystem is in feedforward-like form. Rigorous design procedure for saturated finite-time state feedback control is presented by using the adding a power integrator and the nested saturation methods. The development of saturated finite-time controller is also presented briefly for a class of dynamic nonholonomic systems in feedforward-like form. An application example for a kinematic hopping robot is provided to illustrate the effectiveness of the proposed approach.

Global Finite-Time Output Feedback Stabilization for a Class of Uncertain Nonholonomic Systems

This paper investigates the problem of global finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. By using backstepping recursive technique and the homogeneous domination approach, a constructive design procedure for output feedback control is given. Together with a novel switching control strategy, the designed controller renders that the states of closed-loop system are regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.

Design of a robust neural network-based tracking controller for a class of electrically driven nonholonomic mechanical systems

This paper addresses the problem of designing robust tracking controls for a class of uncertain nonholonomic systems actuated by brushed direct current (DC) motors. This class of electrically driven nonholonomic mechanical systems can be perturbed by plant uncertainties, unmodeled time-varying perturbations, and external disturbances. An adaptive neural network-based dynamic feedback tracking controller will be developed such that all the states and signals of the closed-loop system are bounded and the trajectory tracking error is as small as possible. Consequently, for practical applications, the intelligent robust tracking control scheme developed here can be employed to handle a broader class of electrically driven nonholonomic systems in the presence of high-degree time-varying uncertainties. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed control algorithms.

High gain adaptive control for a class of uncertain non-holonomic systems

It is well known that high gain feedback is one of the most powerful controller design technique for uncertain controlled systems. In this paper, a controller design method of high gain adaptive feedback for non-holonomic systems with unknown system parameters and a class of unbounded uncertainties and/or disturbances is proposed. The considered unbounded uncertainties and/or disturbances are decomposed by a known function and unknown constants. The designed adaptive controller is a rather simple structure, since it has only one adaptive adjusting term which is a feedback gain designed based on high gain technique. Further, the controller achieves not only the stability of the controlled system but also convergence to a small region around origin by increasing the design parameters. The application of the controller to a non-holonomic wheeled mobile robot is considered as an illustrative example.

Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems

In this paper, we present an adaptive neuro-fuzzy controller design for a class of uncertain nonholonomic systems in the perturbed chained form with unknown virtual control coefficients and strong drift nonlinearities. The robust adaptive neuro-fuzzy control laws are developed using state scaling and backstepping. Semiglobal uniform ultimate boundedness of all the signals in the closed-loop are guaranteed, and the system states are proven to converge to a small neighborhood of zero. The control performance of the closed-loop system is guaranteed by appropriately choosing the design parameters. By using fuzzy logic approximation, the proposed control is free of control singularity problem. An adaptive control-based switching strategy is proposed to overcome the uncontrollability problem associated with x 0(t 0) = 0.

The output feedback control for uncertain nonholonomic systems

This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation (GAR) by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.

Du Côté De La Réglementation

This paper studies the problem of finite-time stabilization by state feedback for a class of uncertain nonholonomic systems in feedforward-like form subject to inputs saturation. Under the weaker homogeneous condition on systems growth, a saturated finite-time control scheme is developed by exploiting the adding a power integrator method, the homogeneous domination approach and the nested saturation technique. Together with a novel switching control strategy, the designed saturated controller guarantees that the states of closed-loop system are regulated to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of saturated finite-time control for vertical wheel on rotating table is solved. Simulation results are given to demonstrate the effectiveness of the proposed method.