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

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This study examines the stabilization issue of exten-ded chained nonholonomic systems(ECNSs)with external dis-turbance.Unlike the existing approaches,we transform the con-sidered system into a fully actuated system(FAS)model,simpli-fying the stabilizing controller design.We implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time distur-bance 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 sta-bilization control strategy,while all other system states converge to zero within a finite time.

Zhongcai Zhang、Guangren Duan

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School of Engineering,Qufu Normal University,Rizhao 276826,China

Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen 518055

Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China

国家自然科学基金国家自然科学基金Science Center Program of the National Natural Science Foundation of China中国博士后科学基金特别资助项目Youth Innovation Team Project of Colleges and Universities in Shandong Province

6217320762073187621881012023T1603342022KJ176

2024

10.1109/JAS.2023.124098

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[1]DUAN Guang-Ren.Brockett's Second Example:A FAS Approach Treatment[J].系统科学与复杂性学报(英文版),2023,36(5):1789-1808.
[2]DUAN Guang-Ren.Stabilization via Fully Actuated System Approach:A Case Study[J].系统科学与复杂性学报(英文版),2022,35(3):731-747.
[3]Zhongcai Zhang,Linran Tian,Heng Su,et al.Stabilization of Asymmetric Underactuated Ships With Full-State Constraints:From Underactuated to Nonholonomic Configuration[J].自动化学报(英文版),2022,9(12):2197-2199.
[4]Zhongcai Zhang,Jinshan Bian,Kang Wu.Relay-Switching-Based Fixed-Time Tracking Controller for Nonholonomic State-Constrained Systems:Design and Experiment [J].自动化学报(英文版),2023,10(8):1778-1780.
[5]Guansren DUAN.Fully actuated system approaches for continuous-time delay systems:part 1.Systems with state delays only[J].中国科学:信息科学(英文版),2023,66(1):154-183.
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自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(5)
Zhongcai Zhang,Guangren Duan.Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach[J].自动化学报(英文版),2024,11(5):1262-1273.DOI:10.1109/JAS.2023.124098.
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