Adaptive finite-time stabilization for a class of uncertain high order nonholonomic systems

Gao, Fangzheng; Yuan, Fang

doi:10.1016/j.isatra.2014.07.009

Cited by 43 publications

(13 citation statements)

References 33 publications

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“…Thus, the finite-time convergence problems of nonholonomic systems have been intensively studied. [15][16][17][18] The finite-time consensus problem of multiple chained nonholonomic systems was considered through designing observer-based distributed control strategy. 15 Wu et al 16 considered the finite-time state-feedback stabilization control problem for a class of nonlinear nonholonomic systems with low-order nonlinearities.…”

Section: Introductionmentioning

confidence: 99%

“…15 Wu et al 16 considered the finite-time state-feedback stabilization control problem for a class of nonlinear nonholonomic systems with low-order nonlinearities. Gao and Yuan 17 investigated the adaptive finite-time stabilization control problem for a class of high-order nonholonomic systems with strong nonlinear drifts and nonlinear parameterization by adding a power integrator method. The finite-time tracking control of nonholonomic systems with parameter uncertainties, unknown output gains, and mismatched uncertainties was investigated through state and output feedback.…”

Section: Introductionmentioning

confidence: 99%

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Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time

Chen

Zhang

2018

Intl J Robust & Nonlinear

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In this paper, output-feedback control strategies are proposed for lowertriangular nonlinear nonholonomic systems in any prescribed finite time. Specifically, by employing the input-state-scaling technique, the controlled systems are firstly converted into lower-triangular nonlinear systems, which makes it possible to study such systems using the high-gain technique. Then, by introducing a scaling of the state by a function that grows unbounded toward the terminal time and proposing a high-gain observer-prescribed finite time recovering the system states, the output-feedback regulation control problem in any prescribed finite time is firstly achieved for nonlinear nonholonomic systems with unknown constant incremental rate. Moreover, by designing another time-varying high gain, the output-feedback stabilization control problem in any prescribed finite time is then achieved for nonlinear nonholonomic systems with a time-varying incremental rate. Finally, a numerical example is introduced to show the effectiveness of proposed control strategies. KEYWORDS lower-triangular nonholonomic systems, output-feedback control, prescribed finite time, time-varying high gain 904

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time

Chen

Zhang

2018

Intl J Robust & Nonlinear

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“…Particularly, by using state feedback, the authors in [31] addressed the finite-time stabilization of nonholonomic systems with weak drifts. The works [32][33][34][35] further extended the results in [31] to the nonholonomic systems with uncertain parameters and perturbed terms. It should be noted that all above papers are concerned with the systems in feedback-like form (i,e., the xsubsystem of considered systems is a feedback-like system), and thus these methods are not applicable to nonholonomic systems in feedforward-like form.…”

Section: Introductionmentioning

confidence: 99%

Finite-time stabilization of uncertain nonholonomic systems in feedforward-like form by output feedback

Gao

Zhang

2015

ISA Transactions

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“…Due to some mission requirements, finite-time control schemes are investigated for formation tracking of multiple agents recently. In [21], finitetime stabilization problem was investigated for a class of high order nonholonomic systems. A homogeneous feedback control strategy was proposed for the finite-time convergence of quadrotor trajectory tracking [22].…”

Section: Introductionmentioning

confidence: 99%

“…A homogeneous feedback control strategy was proposed for the finite-time convergence of quadrotor trajectory tracking [22]. Despite the results presented in [21,22], the finite-time controllers are still limited to agents with completely known models or uncertainties which are bounded by known constants or continuous functions. Notably, the adaptive finite-time control schemes remain open for multiple nonholonomic UAVs with quantized input and uncertainties to the best of our knowledge.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Finite-Time Control for Formation Tracking of Multiple Nonholonomic Unmanned Aerial Vehicles with Quantized Input Signals

Sun

2018

Mathematical Problems in Engineering

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Signal quantization can reduce communication burden in multiple unmanned aerial vehicle (multi-UAV) system, whereas it brings control challenge to formation tracking of multi-UAV system. This study presents an adaptive finite-time control scheme for formation tracking of multi-UAV system with input quantization. The UAV model contains nonholonomic kinematic model and autopilot model with uncertainties. The nonholonomic states of the UAVs are transformed by a transverse function method. For input quantization, hysteretic quantizers are used to reduce the system chattering and new decomposition is introduced to analyze the quantized signals. Besides, a novel transformation of the control signals is designed to eliminate the quantization effect. Based on the backstepping technique and finite-time Lyapunov stability theory, the adaptive finite-time controller is established for formation tracking of the multi-UAV system. Stability analysis proves that the tracking error can converge to an adjustable small neighborhood of the origin within finite time and all the signals in closed-loop system are semiglobally finite-time bounded. Simulation experiment illustrates that the system can track the reference trajectory and maintain the desired formation shape.

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Adaptive finite-time stabilization for a class of uncertain high order nonholonomic systems

Cited by 43 publications

References 33 publications

Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time

Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time

Finite-time stabilization of uncertain nonholonomic systems in feedforward-like form by output feedback

Adaptive Finite-Time Control for Formation Tracking of Multiple Nonholonomic Unmanned Aerial Vehicles with Quantized Input Signals

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