Adaptive stabilization of state-constrained uncertain nonholonomic system via dynamic surface control

被引：5
|
作者：
Zhang, Zhongcai [1 ]
Zhang, Shengmiao [1 ]
机构：
[1] Qufu Normal Univ, Sch Engn, Rizhao 276826, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2021年 / 35卷 / 08期
基金：
中国国家自然科学基金;
关键词：
adaptive stabilization; dynamic surface control; full‐ state constraints; nonholonomic system; uncertainties; EXPONENTIAL STABILIZATION; TRACKING;
D O I：
10.1002/acs.3280
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this presented work, a systematic adaptive stabilization control strategy is proposed for nonholonomic system with parametric uncertainties and full-state constraints. To facilitate the handling of state constraints, the original constrained nonholonomic system is converted into a new unconstrained system by state-dependent function transformations including discontinuous state scalings. The adaptive control algorithm is elaborated by cleverly combing the tuning function design approach with switching control strategy. In stability analysis, it is shown that the designed stabilization control method can realize the desired stabilization control aims and full-state constraints. Simulation is carried out to demonstrate the effectiveness of the control scheme.
引用
收藏
页码：1649 / 1661
页数：13
相关论文
共 50 条
  • [31] Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems
    Wu, Yuanyuan
    Wang, Zicheng
    Wu, Yuqiang
    Li, Qingbo
    [J]. ABSTRACT AND APPLIED ANALYSIS, 2014,
  • [32] Adaptive state-feedback stabilization of state-constrained stochastic high-order nonlinear systems
    Rongheng Cui
    Xuejun Xie
    [J]. Science China Information Sciences, 2021, 64
  • [33] Nonlinear State-constrained Control. Application to the Dynamic Positioning of Ships
    Doria-Cerezo, A.
    Acosta, J. A.
    Castano, A. R.
    Fossas, E.
    [J]. 2014 IEEE CONFERENCE ON CONTROL APPLICATIONS (CCA), 2014, : 911 - 916
  • [34] State-constrained stabilization of beam-balance systems
    Mahindrakar, Arun D.
    Sankaranarayanan, V.
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2008, 18 (03) : 333 - 350
  • [35] Adaptive state-feedback stabilization of state-constrained stochastic high-order nonlinear systems
    Rongheng CUI
    Xuejun XIE
    [J]. Science China(Information Sciences), 2021, 64 (10) : 39 - 49
  • [36] Adaptive state-feedback stabilization of state-constrained stochastic high-order nonlinear systems
    Cui, Rongheng
    Xie, Xuejun
    [J]. SCIENCE CHINA-INFORMATION SCIENCES, 2021, 64 (10)
  • [37] STATE-CONSTRAINED STOCHASTIC OPTIMAL CONTROL PROBLEMS VIA REACHABILITY APPROACH
    Bokanowski, Olivier
    Picarelli, Athena
    Zidani, Hasnaa
    [J]. SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2016, 54 (05) : 2568 - 2593
  • [38] Tracking Error Constrained Adaptive Dynamic Surface Control for a Class of Uncertain Nonlinear Systems
    Duan Guangren
    Zhang Zhikai
    Hou Mingzhe
    [J]. 2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 1196 - 1201
  • [39] Decentralized direct adaptive fuzzy control scheme for state-constrained interconnected systems
    Yan, Lei
    Liu, Zhi
    Chen, C. L. Philip
    Zhang, Yun
    Wu, Zongze
    [J]. FUZZY SETS AND SYSTEMS, 2023, 467
  • [40] Adaptive neural control of state-constrained MIMO nonlinear systems with unmodeled dynamics
    Shi, Xiaocheng
    Xu, Shengyuan
    Jia, Xianglei
    Chu, Yuming
    Zhang, Zhengqiang
    [J]. NONLINEAR DYNAMICS, 2022, 108 (04) : 4005 - 4020
12345