Saturated finite-time stabilization of uncertain nonholonomic systems in feedforward-like form and its application

DOI10.1007/S11071-015-2591-2zbMath1354.70028OpenAlexW2224604528MaRDI QIDQ333044

Fangzheng Gao, Zhongcai Zhang, Yu-Qiang Wu

Publication date: 9 November 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-015-2591-2

zbMATH Keywords

nonholonomic systemsfinite-time stabilizationadding a power integratorinputs saturationnested saturation

Mathematics Subject Classification ID

Popov-type stability of feedback systems (93D10) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (15)

Extended finite-time boundedness and stability for switched linear systems with large delay period ⋮ Finite-time output feedback stabilisation for a class of feedforward nonlinear systems with input saturation ⋮ Adaptive sliding mode control of uncertain nonlinear systems with preassigned settling time and its applications ⋮ TABLF-based adaptive control for uncertain nonlinear systems with time-varying asymmetric full-state constraints ⋮ New results on delay-dependent stability for nonlinear systems with two additive time-varying delays ⋮ Global finite time stabilization of pure-feedback systems with input dead-zone nonlinearity ⋮ Output feedback regulation of time-delay nonlinear systems with unknown continuous output function and unknown growth rate ⋮ Global stabilization of high-order nonlinear systems under multi-rate sampled-data control ⋮ Adaptive integral sliding mode stabilization of nonholonomic drift-free systems ⋮ Arbitrary point-to-point stabilization control in specified finite time for wheeled mobile robots based on dynamic model ⋮ Finite-time stabilisation of a class of stochastic nonlinear systems with dead-zone input ⋮ Disturbance attenuation via double-domination approach for feedforward nonlinear system with unknown output function ⋮ Design of finite-time H_∞ controller for uncertain nonlinear systems and its application ⋮ Quantized dissipative filter design for Markovian switch T-S fuzzy systems with time-varying delays ⋮ Finite-time stabilisation for a class of output-constrained nonholonomic systems with its application

Cites Work

• Unnamed Item
• Unnamed Item
• Optimal stable control for nonlinear dynamical systems: an analytical dynamics based approach
• Dynamics and control of a multi-body planar pendulum
• Feedback stabilization of a nonholonomic system with potential fields: application to a two-wheeled mobile robot among obstacles
• Global asymptotic stability controller of uncertain nonholonomic systems
• Adaptive stabilization of high order nonholonomic systems with strong nonlinear drifts
• Discontinuous control of nonholonomic systems
• Stabilization of multiple input chained form control systems
• Saturated control of chained nonholonomic systems
• Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method
• Output feedback exponential stabilization of uncertain chained systems
• Robust adaptive control for nonholonomic systems with nonlinear parameterization
• Iterative design of time-varying stabilizers for multi-input systems in chained form
• Adaptive stabilization of uncertain nonholonomic systems by state and output feedback.
• Variable structure exponential stabilization of chained systems based on the extended nonholonomic integrator
• Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control
• Adaptive stabilization and tracking control of a nonholonomic mobile robot with input saturation and disturbance
• Robust exponential regulation of nonholonomic systems with uncertainties
• Control design for chained-form systems with bounded inputs
• Finite-time \(H_\infty\) control for a class of Markovian jump delayed systems with input saturation
• Semiglobal practical stabilization of nonholonomic wheeled mobile robots with saturated inputs
• Adaptive output feedback stabilization for nonholonomic systems with strong nonlinear drifts
• Robust Practical Stabilization of Nonholonomic Mobile Robots Based on Visual Servoing Feedback with Inputs Saturation
• Global stabilization of a class of upper-triangular systems with unbounded or uncontrollable linearizations
• Global output feedback stabilization of upper-triangular nonlinear systems using a homogeneous domination approach
• Equations of Motion for Nonholonomic, Constrained Dynamical Systems via Gauss’s Principle
• Continuous finite-time stabilization of the translational and rotational double integrators
• Finite-Time Stability of Continuous Autonomous Systems
• Stabilization of uncertain chained form systems within finite settling time
• Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts
• Decentralised control of nonlinear dynamical systems
• A generalised homogeneous solution for global stabilisation of a class of non-smooth upper-triangular systems
• Continuous and Discontinuous Homogeneous Feedbacks Finite-Time Partially Stabilizing Controllable Multichained Systems
• Saturated stabilization and tracking of a nonholonomic mobile robot

This page was built for publication: Saturated finite-time stabilization of uncertain nonholonomic systems in feedforward-like form and its application