首页|A FAS approach for stabilization of generalized chained forms:part 2.Continuous control laws

A FAS approach for stabilization of generalized chained forms:part 2.Continuous control laws

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In this paper,continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS)approach.The key step is to differentiate the first scalar equation,and by control of the obtained second-order scalar system,a proportional plus integral feedback form for the first control variable is obtained.With the solution to this designed second-order scalar system,the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach.The overall designed controller contains an almost arbitrarily chosen design parameter,and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system.The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

nonholonomic systemsfeedback stabilizationfully actuated systemsLyapunov stabilitycon-tinuous controllers

Guang-Ren DUAN

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Shenzhen Key Laboratory of Control Theory and Intelligent Systems,Southern University of Science and Technology,Shenzhen 518055,China

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

国家自然科学基金重大项目国家自然科学基金重大项目国家自然科学基金Science Center Program of the National Natural Science Foundation of China

61690210616902126133300362188101

2024

10.1007/s11432-023-3920-8

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(3)
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