Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:  An FAS Approach

doi:10.1109/JAS.2023.124098

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	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.

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