CASIA OpenIR  > 学术期刊  > IEEE/CAA Journal of Automatica Sinica
Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach
Zhongcai Zhang; Guangren Duan
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2024
Volume11Issue:5Pages:1262-1273
AbstractThis 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.
KeywordDisturbance observer exponential stabilization finite-time stabilization fully actuated systems nonholonomic systems
DOI10.1109/JAS.2023.124098
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/55714
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
JAS-2023-0990.pdf(2299KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhongcai Zhang]'s Articles
[Guangren Duan]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhongcai Zhang]'s Articles
[Guangren Duan]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhongcai Zhang]'s Articles
[Guangren Duan]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: JAS-2023-0990.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.