Nonlinear mapping-based fixed-time stabilization of uncertain nonholonomic systems with time-varying state constraints
In this paper, the problem of fixed-time stabilization (FxTS) is addressed for a type of uncertain chained-form nonholonomic systems. Remarkably, the study possess two important features: one is that the system under investigation is subject to time-varying state constraints (that are equal to the s...
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| Published in | Journal of the Franklin Institute Vol. 357; no. 11; pp. 6653 - 6670 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elmsford
Elsevier Ltd
01.07.2020
Elsevier Science Ltd |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0016-0032 1879-2693 0016-0032 |
| DOI | 10.1016/j.jfranklin.2020.04.028 |
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| Abstract | In this paper, the problem of fixed-time stabilization (FxTS) is addressed for a type of uncertain chained-form nonholonomic systems. Remarkably, the study possess two important features: one is that the system under investigation is subject to time-varying state constraints (that are equal to the space constraints of mobile robot or other nonholonomic mechanical systems), and the other is that the design control laws can render the closed-loop system (CLS) states to zero in any prescribed finite time. A novel nonlinear mapping (NM) is introduced to cope with time-varying state constraints. With the help of the adding a power integrator technique and the reasonable switching control strategy, this paper proposes a fixed-time state feedback controller, and completes the performance analysis based on the construction of integral Lyapunov function. Finally, a simulation example is presented to confirm the effectiveness of control strategy. |
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| AbstractList | In this paper, the problem of fixed-time stabilization (FxTS) is addressed for a type of uncertain chained-form nonholonomic systems. Remarkably, the study possess two important features: one is that the system under investigation is subject to time-varying state constraints (that are equal to the space constraints of mobile robot or other nonholonomic mechanical systems), and the other is that the design control laws can render the closed-loop system (CLS) states to zero in any prescribed finite time. A novel nonlinear mapping (NM) is introduced to cope with time-varying state constraints. With the help of the adding a power integrator technique and the reasonable switching control strategy, this paper proposes a fixed-time state feedback controller, and completes the performance analysis based on the construction of integral Lyapunov function. Finally, a simulation example is presented to confirm the effectiveness of control strategy. |
| Author | Huang, Jiacai Zhu, Xiaochun Shi, Xinxin Gao, Fangzheng |
| Author_xml | – sequence: 1 givenname: Fangzheng surname: Gao fullname: Gao, Fangzheng email: gaofz@126.com, gaofz@njit.edu.cn organization: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China – sequence: 2 givenname: Jiacai surname: Huang fullname: Huang, Jiacai organization: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China – sequence: 3 givenname: Xinxin surname: Shi fullname: Shi, Xinxin organization: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China – sequence: 4 givenname: Xiaochun surname: Zhu fullname: Zhu, Xiaochun organization: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China |
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| Snippet | In this paper, the problem of fixed-time stabilization (FxTS) is addressed for a type of uncertain chained-form nonholonomic systems. Remarkably, the study... |
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| SubjectTerms | Control theory Feedback control Liapunov functions Mapping Mathematical functions Mechanical systems Microelectromechanical systems Stabilization State feedback Switching |
| Title | Nonlinear mapping-based fixed-time stabilization of uncertain nonholonomic systems with time-varying state constraints |
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