Global State-Feedback Stabilization for a Class of Uncertain Nonholonomic Systems with Partial Inputs Saturation
نویسندگان
چکیده
This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of closed-loop system are globally asymptotically regulated to zero. A simulation example is provided to illustrate the effectiveness of the proposed approach. Key–Words: Nonholonomic systems, Partial inputs saturation, Backstepping, State feedback, Global stabilization
منابع مشابه
Global output feedback stabilization for a class of uncertain nonholonomic Systems with Partial inputs saturation
This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of clo...
متن کاملA new switching strategy for exponential stabilization of uncertain discrete-time switched linear systems in guaranteed cost control problem
Uncertain switched linear systems are known as an important class of control systems. Performance of these systems is affected by uncertainties and its stabilization is a main concern of recent studies. Existing work on stabilization of these systems only provides asymptotical stabilization via designing switching strategy and state-feedback controller. In this paper, a new switching strate...
متن کاملStabilization of Networked Control Systems with Variable Delays and Saturating Inputs
In this paper, improved conditions for the synthesis of static state-feedback controller are derived to stabilize networked control systems (NCSs) subject to actuator saturation. Both of the data packet latency and dropout which deteriorate the performance of the closed-loop system are considered in the NCS model via variable delays. Two different techniques are employed to incorporate actuator...
متن کاملNear-Identity Diffeomorphisms and Exponential -Tracking and -Stabilization of First-Order Nonholonomic SE(2) Vehicles
In this paper, we address -tracking and -stabilization for a class of SE(2) autonomous vehicles with firstorder nonholonomic constrains. We introduce a class of transformations called near-identity diffeomorphisms that allow dynamic partial feedback linearization of the translational dynamics of this planar vehicle. This allows us to achieve global exponential -stabilization and -tracking (in p...
متن کاملGlobal State-Feedback Stabilization of High-Order Nonholonomic Systems with Time-Varying Delays
This paper investigates the problem of global stabilization by state-feedback for a class of high-order nonholonomic systems in power chained form with time-varying delays. By using input-state-scaling, and adding a power integrator techniques, and choosing an appropriate Lyapunov-Krasoviskii functional, a state-feedback controller is constructed. Based on switching strategy to eliminate the ph...
متن کامل