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

被引：27

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

页码：1942 / 1959

页数：18

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