Output feedback stabilization within prescribed finite time of asymmetric time‐varying constrained nonholonomic systems

• Published in: International journal of robust and nonlinear control Vol. 31; no. 2; pp. 427 - 446
• Main Authors: Gao, Fangzheng, Wu, Yuqiang, Huang, Jiacai, Liu, Yanhong
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 25.01.2021
• Subjects: asymmetric time‐varying output constraints; Asymmetry; barrier Lyapunov function; Constraints; Feedback control; fixed‐time stabilization; Liapunov functions; Mechanical systems; nonholonomic systems; Output feedback; Stabilization
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.5289

Summary In this article, the fixed‐time stabilization problem is investigated for a category of nonholonomic chained‐form systems. Notably, the study possess two important features: the system under investigation is subject to asymmetric time‐varying output constraints (that are equal to the space constraints of mobile robot or other nonholonomic mechanical systems), and only output is available for feedback. A novel universal barrier Lyapunov function (UBLF), which is equivalent to the classical Lyapunov function for unconstrained systems, is introduced to address asymmetric time‐varying output constraint requirements. Under the universal framework in the sense that the proposed scheme can work for system with symmetric/asymmetric constraints or without constraint requirements, an output feedback controller is developed by employing the barrier function and the bi‐limit control techniques. It is shown that the suggested controller ensures the states of the closed‐loop system (CLS) to zero in a prescribed finite time, while the asymmetric time‐varying constraints on system output are not violated. Finally, simulation results are given to confirm the efficacy of the presented control scheme.