Knowledge Commons of Institute of Automation,CAS
Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach | |
Zhongcai Zhang; Guangren Duan | |
发表期刊 | IEEE/CAA Journal of Automatica Sinica |
ISSN | 2329-9266 |
2024 | |
卷号 | 11期号:5页码:1262-1273 |
摘要 | This study examines the stabilization issue of extended chained nonholonomic systems (ECNSs) with external disturbance. Unlike the existing approaches, we transform the considered system into a fully actuated system (FAS) model, simplifying the stabilizing controller design. We implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance 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 stabilization control strategy, while all other system states converge to zero within a finite time. |
关键词 | Disturbance observer exponential stabilization finite-time stabilization fully actuated systems nonholonomic systems |
DOI | 10.1109/JAS.2023.124098 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/55714 |
专题 | 学术期刊_IEEE/CAA Journal of Automatica Sinica |
推荐引用方式 GB/T 7714 | Zhongcai Zhang,Guangren Duan. Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(5):1262-1273. |
APA | Zhongcai Zhang,&Guangren Duan.(2024).Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach.IEEE/CAA Journal of Automatica Sinica,11(5),1262-1273. |
MLA | Zhongcai Zhang,et al."Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach".IEEE/CAA Journal of Automatica Sinica 11.5(2024):1262-1273. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
JAS-2023-0990.pdf(2299KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论