Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control

Butt, Yasir Awais

doi:10.1016/j.aej.2017.05.017

Cited by 11 publications

(11 citation statements)

References 22 publications

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“…In this section, we demonstrate the effectiveness of the proposed control strategy for the following nonholonomic systems in extended chained-form 2 through a series of simulations, = 3 for 2. The control signal 1 is designed as (10). The ESO is designed aṡ Figures 1∼4 are the simulation results of the three steps.…”

Section: Simulationsmentioning

confidence: 99%

“…The nonholonomic chained-form system was first proposed by Murray and Sastry in [1]. In recent years, more attention has been paid to the finite-time stabilization of the nonholonomic chained-form systems [2][3][4][5][6]. According to Brockett's necessary conditions [7], there is no smooth-time-invariant static state feedback control law that can stabilize a nonholonomic system.…”

Section: Introductionmentioning

confidence: 99%

“…According to Brockett's necessary conditions [7], there is no smooth-time-invariant static state feedback control law that can stabilize a nonholonomic system. A number of approaches have been proposed to solve the stabilization problem including continuous timevarying feedback control laws, discontinuous time invariant control, and hybrid stabilization [8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

“…In recent years, more and more studies have been done on the stability of nonholonomic systems [27][28][29][30][31][32][33][34]. Yasir Awais Butt [3] proposed a robust switching controller based on discrete switching logic and ISM. This approach can guarantee the desired performance and robustness properties of the feedback control system.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Robust Stabilization of Extended Nonholonomic Chained‐Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

Chen

Sun

et al. 2019

Complexity

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In this paper, the stabilization problem of nonholonomic chained-form systems is addressed with uncertain constants. In this paper, the active disturbance rejection control (ADRC) is designed to solve this problem. The proposed control strategy combines extended state observer (ESO) and adaptive sliding mode controller. The control of nonholonomic chained-form systems with dynamic nonlinear uncertain terms and uncertain constants is first discussed in this paper. In comparison with existing methods, the proposed method in this paper has better performance. It is proved that, with the application of the proposed control strategy, semiglobal finite-time stabilization of the systems is achieved. An example is given to illustrate the effectiveness of the proposed method.

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Section: Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Stabilization of Extended Nonholonomic Chained‐Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

Chen

Sun

et al. 2019

Complexity

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“…The main features of SMC include robustness, easy tuning, and implementation [2,8]. It uses Lyapunov function to guarantee the robustness property which makes SMC a better option as compared with other control design techniques.…”

Section: Introductionmentioning

confidence: 99%

Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum

Idrees¹,

Muhammad²,

Ullah³

2019

Kybernetika

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Adaptive global stabilization of chained‐form systems with multiple disturbance and strong nonlinear drifts

Chen

Wang

Zhang

et al. 2020

Adaptive Control & Signal

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SummaryThis article investigates the stabilization of chained‐form nonholonomic systems with strong drifts, multidisturbances, and unknown constant parameters. The disturbances include the matched disturbance with bounded variation and the unknown time‐varying unmatched disturbance. A nonlinear disturbance observer is skillfully constructed to evaluate the matched disturbance and a disturbance estimation is used in the virtual controls to compensate the unmatched disturbance. By using a new input‐to‐state scaling scheme, the original nonholonomic system is transformed into a strict feedback form. Combining back‐stepping technique with disturbance observer‐based control (DOBC), a composite DOBC and global adaptive stabilization controller is proposed. A switching strategy based on control input magnitude instead of time is proposed to avoid uncontrollability. By using Lyapunov tools, all the states in the system are proved to be uniformly ultimate bounded. Simulations demonstrate the effectiveness of the proposed strategies.

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Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control

Cited by 11 publications

References 22 publications

Robust Stabilization of Extended Nonholonomic Chained‐Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

Robust Stabilization of Extended Nonholonomic Chained‐Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum

Adaptive global stabilization of chained‐form systems with multiple disturbance and strong nonlinear drifts

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