期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 93, 期 12, 页码 2941-2948出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2019.1569262
关键词
Predefined-time stabilisation; nonholonomic system; Lyapunov methods; chained-form dynamics
资金
- Consejo Nacional de Ciencia y Tecnologia (CONACYT - Mexico) [1086]
- European Community
- Regional Delegation for Research and Technology
- Haut de France Region
- National Center for Scientific Research under the project ELSAT VUMOPE
This paper deals with the predefined-time stabilisation problem for a class of uncertain chained-form nonholonomic systems. Based on a novel generalised Lyapunov-like characterisation of predefined-time stability, new predefined-time controllers are introduced for a class of first and second order systems with matched perturbations. Contrary to existing finite-time and fixed-time schemes, an upper bound of the settling time is an easily tuneable control parameter. Then, these results for first and second order systems are used to design a switching strategy, which guarantees the predefined-time stability of the closed-loop system. The switching time and the settling-time can be easily tuned according to the control parameters. A benchmark example is presented to show the effectiveness of the proposed method.
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