A class of predefined-time stabilizing controllers for nonholonomic system
The design of a class of predefined-time stabilizing controller for a class uncertain nonholonomic systems in chained form is investigated in this paper. First, some modifications to the classical fixed-time algorithms for first and second order systems are introduced. These modified algorithms, whi...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2019 |
| País: | México |
| Institución: | Instituto Tecnológico y de Estudios Superiores de Occidente |
| Repositorio: | Repositorio Institucional del ITESO |
| Idioma: | inglés |
| OAI Identifier: | oai:rei.iteso.mx:11117/6570 |
| Acceso en línea: | https://hdl.handle.net/11117/6570 |
| Access Level: | acceso abierto |
| Palabra clave: | Predefined-Time Stability Nonholonomic Systems Mechanical Systems |
| Sumario: | The design of a class of predefined-time stabilizing controller for a class uncertain nonholonomic systems in chained form is investigated in this paper. First, some modifications to the classical fixed-time algorithms for first and second order systems are introduced. These modified algorithms, which are developed under the concept of predefined-time stability, reduce the settling time overestimation drawback suffered by the classical fixed-time algorithm. Unlike current finite-time and fixed-time schemes, an upper bound of the settling time is easily tunable through a simple selection of the parameters of the controllers. Then, based on the developed first and second-order algorithms, a switching control strategy is designed to guarantee the predefined-time stability of the chained-form nonholonomic system. Finally, a simulation example is presented to show the effectiveness of the proposed method. |
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