Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:An FAS ApproachOACSTPCDEI
Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach
This study examines the stabilization issue of exten-ded chained nonholonomic systems(ECNSs)with external dis-turbance.Unlike the existing approaches,we transform the con-sidered system into a fully actuated system(FAS)model,simpli-fying the stabilizing controller design.We implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time distur-bance observer(FTDO)for the two system inputs.In addition,we discuss the specifics of global stabilization control design.Our approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching sta-bilization control strategy,while all other system states converge to zero within a finite time.
Zhongcai Zhang;Guangren Duan
School of Engineering,Qufu Normal University,Rizhao 276826,ChinaCenter for Control Science and Technology,Southern University of Science and Technology,Shenzhen 518055||Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China
Disturbance observerexponential stabilizationfinite-time stabilizationfully actuated systemsnonholonomic sys-tems
《自动化学报（英文版）》 2024 (005)
1262-1273 / 12
This work was partially supported by the National Natural Science Foundation of China(62173207,62073187),the Science Center Program of the National Natural Science Foundation of China(62188101),the China Postdoctoral Science Special Foundation(2023T160334),and the Youth Innovation Team Project of Colleges and Universities in Shandong Province(2022KJ176).
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