首页|A FAS approach for stabilization of generalized chained forms:part 1.Discontinuous control laws

A FAS approach for stabilization of generalized chained forms:part 1.Discontinuous control laws

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In this paper,a type of general nonholonomic systems is proposed,which contains both the Brockett's two example systems,and their extended n-dimensional chained forms,as special cases.For the stabilization of such systems,a stabilizing controller is proposed based on the fully actuated system(FAS)approach,which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially.Furthermore,the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

nonholonomic systemsfeedback stabilizationexponential convergencesub-fully actuated sys-temstime-delay systems

Guang-Ren DUAN

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

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

Shenzhen Key Laboratory of Control Theory and Intelligent SystemsMajor Program of National Natural Science Foundation of ChinaMajor Program of National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaScience Center Program of the National Natural Science Foundation of China

ZDSYS2022033016180000161690210616902126133300362188101

2024

10.1007/s11432-022-3730-8

中国科学:信息科学(英文版)
中国科学院

中国科学:信息科学(英文版)

CSTPCDEI
影响因子：0.715
ISSN：1674-733X
年,卷(期)：2024.67(2)
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