Prescribed-time control of high-order nonholonomic systems in chained form by time-varying feedback

Kang Kang Zhang; Bin Zhou; Mingzhe Hou; Guang Ren Duan

doi:10.1016/j.sysconle.2022.105307

Prescribed-time control of high-order nonholonomic systems in chained form by time-varying feedback

Kang Kang Zhang
, Bin Zhou^*
, Mingzhe Hou
, Guang Ren Duan

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

22 Scopus citations

Abstract

In this paper, the prescribed-time control problem for a class of high-order nonholonomic systems is investigated. With the aid of a novel state transformation, the nonholonomic systems are decoupled. Further, a time-varying high-gain feedback controller is constructed by backstepping. It is shown that the proposed control law can achieve the prescribed-time convergence for high-order nonholonomic systems and the controller is bounded. Numerical examples verify the effectiveness of the method proposed in this paper.

Original language	English
Article number	105307
Journal	Systems and Control Letters
Volume	166
DOIs	https://doi.org/10.1016/j.sysconle.2022.105307
State	Published - Aug 2022

Keywords

Bounded feedback
High-order nonholonomic systems
Prescribed-time control
Scalarization
Time-varying feedback

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10.1016/j.sysconle.2022.105307

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title = "Prescribed-time control of high-order nonholonomic systems in chained form by time-varying feedback",

abstract = "In this paper, the prescribed-time control problem for a class of high-order nonholonomic systems is investigated. With the aid of a novel state transformation, the nonholonomic systems are decoupled. Further, a time-varying high-gain feedback controller is constructed by backstepping. It is shown that the proposed control law can achieve the prescribed-time convergence for high-order nonholonomic systems and the controller is bounded. Numerical examples verify the effectiveness of the method proposed in this paper.",

keywords = "Bounded feedback, High-order nonholonomic systems, Prescribed-time control, Scalarization, Time-varying feedback",

author = "Zhang, \{Kang Kang\} and Bin Zhou and Mingzhe Hou and Duan, \{Guang Ren\}",

note = "Publisher Copyright: {\textcopyright} 2022 Elsevier B.V.",

year = "2022",

month = aug,

doi = "10.1016/j.sysconle.2022.105307",

language = "英语",

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T1 - Prescribed-time control of high-order nonholonomic systems in chained form by time-varying feedback

AU - Zhang, Kang Kang

AU - Zhou, Bin

AU - Hou, Mingzhe

AU - Duan, Guang Ren

PY - 2022/8

Y1 - 2022/8

N2 - In this paper, the prescribed-time control problem for a class of high-order nonholonomic systems is investigated. With the aid of a novel state transformation, the nonholonomic systems are decoupled. Further, a time-varying high-gain feedback controller is constructed by backstepping. It is shown that the proposed control law can achieve the prescribed-time convergence for high-order nonholonomic systems and the controller is bounded. Numerical examples verify the effectiveness of the method proposed in this paper.

AB - In this paper, the prescribed-time control problem for a class of high-order nonholonomic systems is investigated. With the aid of a novel state transformation, the nonholonomic systems are decoupled. Further, a time-varying high-gain feedback controller is constructed by backstepping. It is shown that the proposed control law can achieve the prescribed-time convergence for high-order nonholonomic systems and the controller is bounded. Numerical examples verify the effectiveness of the method proposed in this paper.

KW - Bounded feedback

KW - High-order nonholonomic systems

KW - Prescribed-time control

KW - Scalarization

KW - Time-varying feedback

UR - https://www.scopus.com/pages/publications/85133652914

U2 - 10.1016/j.sysconle.2022.105307

DO - 10.1016/j.sysconle.2022.105307

M3 - 文章

AN - SCOPUS:85133652914

SN - 0167-6911

VL - 166

JO - Systems and Control Letters

JF - Systems and Control Letters

M1 - 105307

ER -

Prescribed-time control of high-order nonholonomic systems in chained form by time-varying feedback

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Keywords

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