Finite-Time Discontinuous Control of Nonholonomic Chained-Form Systems

被引：4
|
作者：
Zhu, Wenwu [1 ,2 ]
Yu, Xinghuo [3 ]
Li, Shihua [4 ]
Du, Haibo [1 ,2 ]
机构：
[1] Hefei Univ Technol, Sch Elect Engn & Automat, Hefei 230009, Anhui, Peoples R China
[2] Engn Technol Res Ctr Ind Automat, Hefei 230009, Anhui, Peoples R China
[3] RMIT Univ, Sch Engn, Melbourne, Vic 3001, Australia
[4] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China
来源：
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2023年 / 70卷 / 06期
基金：
澳大利亚研究理事会; 中国国家自然科学基金;
关键词：
Convergence; Mobile robots; Vehicle dynamics; Automation; Underwater vehicles; Transforms; Stability analysis; Nonholonomic systems; chained-form systems; discontinuous control; finite-time control; OUTPUT-FEEDBACK STABILIZATION; EXPONENTIAL STABILIZATION; HOMOGENEITY; STABILITY; DESIGN; ROBOT;
D O I：
10.1109/TCSII.2022.3227200
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A finite-time discontinuous control method is proposed for controlling nonholonomic chained-form systems. Through a general discontinuous coordinate transformation, the nonholonomic system is transformed into two decoupled subsystems that are independently stabilized with control laws. Sufficient conditions for the existence of decoupled subsystems and finite-time convergence of system states are given. Furthermore, the finite-time discontinuous control laws are proposed to ensure that the system states reach the equilibrium in a finite time. Simulation results are presented to demonstrate the effectiveness and advantages of the proposed approach.
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页码：2001 / 2005
页数：5
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