Fixed-time regulation control of uncertain nonholonomic systems and its applications

Zhang, Zhongcai; Wu, Yuqiang

doi:10.1080/00207179.2016.1205758

Cited by 58 publications

(33 citation statements)

References 31 publications

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“…Recently, a globally fixed-time regulation control strategy was proposed for a kind of uncertain nonholonomic systems subject to perturbations by employing the addition of one power integrator technique and switching ideal. 22 The fixed-time consensus tracking problem for chained nonholonomic multiagent systems was considered by designing a distributed observer. 23 Observation with time constraints also deserves continued attention, and one of the most popular approaches of system state estimation is the so-called dynamic observer design, which uses a copy of the mathematical model of the system with an additional output injection term.…”

Section: Introductionmentioning

confidence: 99%

Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time

Chen

Zhang

2018

Intl J Robust & Nonlinear

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In this paper, output-feedback control strategies are proposed for lowertriangular nonlinear nonholonomic systems in any prescribed finite time. Specifically, by employing the input-state-scaling technique, the controlled systems are firstly converted into lower-triangular nonlinear systems, which makes it possible to study such systems using the high-gain technique. Then, by introducing a scaling of the state by a function that grows unbounded toward the terminal time and proposing a high-gain observer-prescribed finite time recovering the system states, the output-feedback regulation control problem in any prescribed finite time is firstly achieved for nonlinear nonholonomic systems with unknown constant incremental rate. Moreover, by designing another time-varying high gain, the output-feedback stabilization control problem in any prescribed finite time is then achieved for nonlinear nonholonomic systems with a time-varying incremental rate. Finally, a numerical example is introduced to show the effectiveness of proposed control strategies. KEYWORDS lower-triangular nonholonomic systems, output-feedback control, prescribed finite time, time-varying high gain 904

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Section: Introductionmentioning

confidence: 99%

Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time

Chen

Zhang

2018

Intl J Robust & Nonlinear

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“…That is, when there is no constraint requirements on the lower and/or upper bounds of p 1 , by letting k 11 → ∞ and/or k 12 → ∞, V k b 1 (p 1 ) in (10) will become the equivalent Lyapunov function widely employed for the unconstrained control designs. [19][20][21][22][23][36][37][38] Consequently, the present tan-type UBLF V b 1 (x 1 ) serves as a unified tool to handle the control problem simultaneously with asymmetric constraints (especially unilateral constraints), symmetric constraints, or without constraint requirements.…”

Section: A Novel Tan-type Ublfmentioning

confidence: 99%

“…3. The presence of the time-varying constraints renders the existing finite/fixed-time control techniques in 36,37, and 38 inapplicable (see Remark 1 below), to address such constraint requirements, a novel tan-type UBLF fully taking advantage of structure feature of the system is introduced. 4.…”

Section: Introductionmentioning

confidence: 99%

Output feedback stabilization within prescribed finite time of asymmetric time‐varying constrained nonholonomic systems

Gao

Huang

et al. 2020

Intl J Robust & Nonlinear

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In this article, the fixed-time stabilization problem is investigated for a category of nonholonomic chained-form systems. Notably, the study possess two important features: the system under investigation is subject to asymmetric time-varying output constraints (that are equal to the space constraints of mobile robot or other nonholonomic mechanical systems), and only output is available for feedback. A novel universal barrier Lyapunov function (UBLF), which is equivalent to the classical Lyapunov function for unconstrained systems, is introduced to address asymmetric time-varying output constraint requirements. Under the universal framework in the sense that the proposed scheme can work for system with symmetric/asymmetric constraints or without constraint requirements, an output feedback controller is developed by employing the barrier function and the bi-limit control techniques. It is shown that the suggested controller ensures the states of the closed-loop system (CLS) to zero in a prescribed finite time, while the asymmetric time-varying constraints on system output are not violated. Finally, simulation results are given to confirm the efficacy of the presented control scheme.

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“…Practically, we can choose a group of available parameters 1 = 300, 2 = 1, Remark 17. By comparing the performance of the controller proposed in this paper with the performance of the controller proposed in [47,48], we can know that the fixed and predefined-time controllers have better performance for nonholonomic systems. The fixed and predefined-time controllers predetermine the time, so the operation of the controller is independent of the initial value of the nonholonomic systems.…”

Section: Remark 16mentioning

confidence: 99%

Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

Chen

Sun

et al. 2019

Complexity

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In this paper, the stabilization problem of nonholonomic chained-form systems is addressed with uncertain constants. In this paper, the active disturbance rejection control (ADRC) is designed to solve this problem. The proposed control strategy combines extended state observer (ESO) and adaptive sliding mode controller. The control of nonholonomic chained-form systems with dynamic nonlinear uncertain terms and uncertain constants is first discussed in this paper. In comparison with existing methods, the proposed method in this paper has better performance. It is proved that, with the application of the proposed control strategy, semiglobal finite-time stabilization of the systems is achieved. An example is given to illustrate the effectiveness of the proposed method.

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Fixed-time regulation control of uncertain nonholonomic systems and its applications

Cited by 58 publications

References 31 publications

Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time

Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time

Output feedback stabilization within prescribed finite time of asymmetric time‐varying constrained nonholonomic systems

Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

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