Finite-time tracking control of uncertain nonholonomic systems by state and output feedback

被引：24
作者：
Shi, Shang [1 ]
Xu, Shengyuan [1 ]
Yu, Xin [2 ]
Li, Yongmin [3 ]
Zhang, Zhengqiang [4 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
[2] Jiangsu Univ, Sch Elect & Informat Engn, Zhenjiang, Peoples R China
[3] Huzhou Teachers Coll, Sch Sci, Huzhou, Peoples R China
[4] Qufu Normal Univ, Sch Elect Engn & Automat, Rizhao, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2018年 / 28卷 / 06期
关键词：
finite-time tracking; nonholonomic systems; output feedback; state feedback; uncertainty; EXPONENTIAL STABILIZATION; STABILITY; DESIGN; FORM;
D O I：
10.1002/rnc.3991
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies the finite-time tracking control of nonholonomic systems in chained form with parameter uncertainties, unknown output gains, and mismatched uncertainties. To achieve the finite-time tracking control of uncertain nonholonomic systems, we propose 2 types of controllers by state and output feedback, respectively. Both of the proposed 2 types of controllers can achieve the finite-time output tracking control of the nonholonomic systems even in the presence of mismatched uncertainties and/or unknown gains. The effectiveness of our proposed controllers are illustrated with simulation examples.
引用
收藏
页码：1942 / 1959
页数：18
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