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：

中国国家自然科学基金; 澳大利亚研究理事会;

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.

引用

页码：2001 / 2005

页数：5

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