Moving Target Tracking of Extended Nonholonomic Chained-Form Systems via Finite-Time Switching Control
نویسندگان
چکیده
منابع مشابه
Finite-time Stabilization for Nonholonomic Chained Form Systems
In this paper, the problem of finite-time stabilization is developed for nonholonomic chained form systems with communication delay in the input. The finite-time control laws are presented by utilizing the switching control strategy and the theory of finite-time stability, which can make the states of the nonholonomic chained form systems to converge from any non-equilibrium state to the equili...
متن کاملSaturated Control of Chained Nonholonomic Systems
Plenty of approaches to stabilize chained nonholonomic systems have been proposed in the literature. However, the stabilization with constrained inputs is seldom addressed. This problem has practical importance since all physical nonholonomic systems have actuator limitations. In this article, a novel switching control design is proposed. The design strategy is inspired by the structural simila...
متن کاملConstrained Minimum-Time-Oriented Feedback Control for the Stabilization of Nonholonomic Systems in Chained Form
In this paper, a discontinuous state-feedback law is proposed for the stabilization of nonholonomic systems in power form. The feedback law is based on a receding-horizon strategy in which the open-loop optimization problem is a minimum-time steering process. Suboptimal formulations are used explicitly to meet the real-time implementability requirements. Stability is established in a sampleddat...
متن کاملEnhancement of Robust Tracking Performance via Switching Supervisory Adaptive Control
When the process is highly uncertain, even linear minimum phase systems must sacrifice desirable feedback control benefits to avoid an excessive ‘cost of feedback’, while preserving the robust stability. In this paper, the problem of supervisory based switching Quantitative Feedback Theory (QFT) control is proposed for the control of highly uncertain plants. According to this strategy, the unce...
متن کاملStabilization of nonholonomic chained systems via nonregular feedback linearization
This paper addresses the problem of feedback stabilization of nonholonomic chained systems within the framework of nonregular feedback linearization. Firstly, the nonsmooth version of nonregular feedback linearization is formulated, and a criterion for nonregular feedback linearization is provided. Then, it is proved that a chained form is linearizable via nonregular feedback control, thus enab...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Discrete Dynamics in Nature and Society
سال: 2018
ISSN: 1026-0226,1607-887X
DOI: 10.1155/2018/3801849