Prescribed-time control of perturbed nonholonomic systems by time-varying feedback

Zhou, Bin; Zhang, Kang-Kang; Jiang, Huaiyuan

doi:10.1016/j.automatica.2023.111125

Cited by 14 publications

(1 citation statement)

References 24 publications

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“…Cost functions are switched by a switched signal with an adaptable dwell period to enhance control performance under various limitations. The study in [21] investigated the nonholonomic systems prescribed-time control challenge. A time-varying high-gain feedback controller was initially proposed for the chained nonholonomic system such that the state of the closed-loop system converges to zero at any predetermined time using some properties of a class of parametric Lyapunov equations and time-varying Lyapunov-like functions.…”

Section: Introductionmentioning

confidence: 99%

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

Boubaker,

Labbadi,

Alsubaei

2024

IEEE Access

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This paper addresses the topic of stabilizing a class of nonholonomic systems in chained form impacted by matched uncertainties and time-varying perturbations. To design efficient stabilizing control law, the whole problem is divided into two sub-problems. The first sub-problem considers a system with perturbation stabilized using a fixed-time controller. The second sub-problem consists of the design of a controller for a second system operating under perturbations and uncertainties. To control this second system, firstly a terminal sliding mode manifold is proposed to achieve a fixed-time stability. As opposed to the traditional supertwisting algorithm (STA), the present work proposes a generalized STA (GSTA). The proposed method's most striking feature is the substitution of a fractional power term for the standard STA's discontinuous term, which can significantly boost the former's performance. It is demonstrated that the GSTA will reduce to the traditional STA if the fractional power in the nonsmooth term equals −1/2. The ability of the sliding variables to finite-time converge to an arbitrary tiny region in the vicinity of the origin by adjusting the gains and the fractional power will be thoroughly proven under the GSTA by utilizing strict Lyapunov analysis. The effectiveness of the proposed control method is shown through extensive simulations.INDEX TERMS Perturbed unicycle mobile robots, Nonholonomic systems, Fixed-time/finite stabilization, Lyapunov methods, high order sliding mode, Perturbations.

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Section: Introductionmentioning

confidence: 99%

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

Boubaker,

Labbadi,

Alsubaei

2024

IEEE Access

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Structural properties of linear discrete periodic systems based on fully actuated system approaches

Lv,

Li,

Liu

2024

Asian Journal of Control

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In this paper, the structural properties of linear discrete‐periodic systems are investigated using fully actuated system approaches and the related criteria are presented, with emphasis on the observability and controllability criteria based on fully actuated system approaches. Both the high‐order fully measured and high‐order fully actuated models of linear discrete periodic time‐varying systems are constructed, and it is shown that a sufficient and necessary condition for the linear discrete periodic system to be observable (controllable) is that it can be equivalently transformed into a step‐forward high‐order fully measured (fully actuated) model and a step‐backward high‐order fully measured (fully actuated) model. Finally, a numerical example is offered to demonstrate the validity and feasibility of the approach.

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Formation Control of Multi-agent Systems Over Directed Topologies: A Sliding Mode Control Approach With Prescribed-time Convergence

Lodhi,

Zhang

2024

Int. J. Control Autom. Syst.

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Prescribed-time control of perturbed nonholonomic systems by time-varying feedback

Cited by 14 publications

References 24 publications

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

Structural properties of linear discrete periodic systems based on fully actuated system approaches

Formation Control of Multi-agent Systems Over Directed Topologies: A Sliding Mode Control Approach With Prescribed-time Convergence

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