Finite-time stabilization for high-order nonholonomic systems with full state constraints

被引：0
|
作者：
Li, Liangguang [1 ,2 ,3 ]
Zheng, Shiqi [1 ,2 ,3 ]
Sun, Jiachun [1 ,2 ,3 ]
Song, Tao [1 ,2 ,3 ]
Chang, Qing [1 ,2 ,3 ]
机构：
[1] China Univ Geosci, Sch Automat, Wuhan 430074, Peoples R China
[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China
[3] Minist Educ, Engn Res Ctr Intelligent Technol Geoexplorat, Wuhan 430074, Peoples R China
来源：
2022 41ST CHINESE CONTROL CONFERENCE (CCC) | 2022年
基金：
中国国家自然科学基金;
关键词：
Finite time; nonholonomic system; mobile robots; constraints; NONLINEAR-SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies the finite-time control problem for a class of high-order nonholonomic systems. A new smooth coupling controller is proposed to make the system states converge to zero in finite-time. In order to ensure the states constraints of the nonholonomic systems, a new adding a barrier power integrator technique is presented. The barrier function is integrated into the traditional adding a power integrator technique. Meanwhile, the proposed controller is singular-free and can produce smooth control signals. Finally, simulations verify the obtained results.
引用
收藏
页码：1188 / 1193
页数：6
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