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

Gao, Fangzheng; Wu, Yuqiang; Huang, Jin; Liu, Yanhong

doi:10.1002/rnc.5289

Cited by 29 publications

(14 citation statements)

References 62 publications

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“…Moreover, observe that the original system (1) and the transformed system 7have the similar structure except the time-varying control coefficient Γ τ k . Therefore, by letting Γ = 1, one can design a new common state feedback controller u consisting of (30), (36) and (38), to maintain the state at the origin for t ≥ T c .…”

Section: B Controller Design For T ≥ Tc and Main Resultsmentioning

confidence: 99%

“…Inspired by recent works [38,39], to shift the original prescribed-time stabilization to the framework of asymptotic stabilization, we introduce the following novel TVST:…”

Section: A Controller Design For the Case Ofmentioning

confidence: 99%

“…Theorem 3.1. For switched system (1) with Assumptions 2.1-2.3, the common state feedback controller u consisting of (30), (36) and (38) drives the state of the CLS to zero within prescribed finite time T c > 0 under ASs.…”

Section: And Take the Common Lyapunov Functionmentioning

confidence: 99%

“…Under the new framework of fixed-time stability, various works have appeared to address control designs of linear/nonlinear systems. Roughly, the existing approaches on such control designs can be classified into two classes: the bi-limit homogeneous approach [30,31] and the Lyapunov-based approach [32][33][34][35][36][37][38]. It is worth pointing out that, in the bi-limit homogeneous approach, the upper bound of the settling time II, the problem formulation and preliminaries of this paper are introduced.…”

Section: Introductionmentioning

confidence: 99%

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Global Prescribed-Time Controller Design for p-Normal Switched Nonlinear Systems With Dead-Zone Inputs

Hou

Gao

2021

IEEE Access

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The global stabilization controller design is addressed in this paper for a kind of uncertain switched nonlinear systems (SNSs) in p-normal form. Notably, the study possess two significant features: the system under investigation is subject to the dead-zone inputs, and the system states are expected to be driven to zero in prescribed finite time. To do this, a novel time-varying scaling transformation (TVST), which can be used to change the original prescribed-time stabilization into the asymptotic stabilization of transformed one, is first recommended. Then, with the aid of the common Lyapunov function (CLF) technique, the state feedback stabilization within prescribed-time of SNSs is established by using the recursive idea. Finally, the effectiveness of given control method is confirmed by simulation results of a liquid-level system. INDEX TERMS Switched nonlinear systems; p-normal form; dead-zone inputs; time-varying scaling transformation; prescribed-time stabilization.

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Section: B Controller Design For T ≥ Tc and Main Resultsmentioning

confidence: 99%

“…Inspired by recent works [38,39], to shift the original prescribed-time stabilization to the framework of asymptotic stabilization, we introduce the following novel TVST:…”

Section: A Controller Design For the Case Ofmentioning

confidence: 99%

Section: And Take the Common Lyapunov Functionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Global Prescribed-Time Controller Design for p-Normal Switched Nonlinear Systems With Dead-Zone Inputs

Hou

Gao

2021

IEEE Access

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“…For single nonholonomic systems, related researches mainly focus on non‐smooth or discontinuous controller designs. Feedback stabilization methods 6,7 for single nonholonomic system are mainly classified into three types: discontinuous time‐invariant control, time‐varying control, and hybrid control.…”

Section: Introductionmentioning

confidence: 99%

Fault tolerant consensus of multiple nonholonomic chained‐form systems with actuator and communication faults

Zhang

Yang

Jiang

2021

Intl J Robust & Nonlinear

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This article investigates the fault tolerant consensus problem of multiple nonholonomic chained‐form systems with both actuator and communication faults. The systems are enabled to follow a reference trajectory and realize practical consensus, by applying distributed reference state observers and robust adaptive fault tolerant control (FTC) strategies. The proposed state observers are robust to communication faults and can estimate the actual reference trajectory for each system. Based on such an observer, a robust adaptive FTC scheme is further provided to address actuator faults. A sine function is injected into the FTC law to relax the persistent excitation condition to avoid uncontrollability of the two‐input chained‐form system when one of reference control input tends to zero. Simulation result of wheeled mobile robots shows the effectiveness of proposed FTC methods.

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SDF‐based tracking control for state‐constrained nonholonomic systems with disturbances via relay switching control: Theory and experiment

Zhang

Cao

2022

Adaptive Control & Signal

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Summary This article investigates the tracking control problem for a kind of chained‐form nonholonomic systems in the presence of unknown time‐varying disturbances and full‐state constraints. First, a finite‐time tracking controller is constructed to drive the action of relay switching, which converts the whole control system into two design stages. In order to handle with the predefined asymmetric state constraints, the original tracking error system is turned into an unconstrained system on the basis of state‐dependent function (SDF) function transformations. In this framework, an adaptive tracking control strategy is proposed by means of backstepping and dynamic surface control. Correspondingly, another tracking control law is also constructed to assure the stability of the tracking error system before the action of switching. The theoretical analysis of stability indicates that the proposed tracking control scheme can guarantee that the output state tracking errors converge to zero and the desired state constraints are not violated. At the same time, all the closed‐loop system signals maintain bounded in entire control process. Finally, the validity of the presented tracking control algorithm is demonstrated by simulation and experiment results.

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

Cited by 29 publications

References 62 publications

Global Prescribed-Time Controller Design for p-Normal Switched Nonlinear Systems With Dead-Zone Inputs

Global Prescribed-Time Controller Design for p-Normal Switched Nonlinear Systems With Dead-Zone Inputs

Fault tolerant consensus of multiple nonholonomic chained‐form systems with actuator and communication faults

SDF‐based tracking control for state‐constrained nonholonomic systems with disturbances via relay switching control: Theory and experiment

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