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

被引：14
作者：
Zhang, Kang-Kang [1 ]
Zhou, Bin [1 ]
Hou, Mingzhe [1 ]
Duan, Guang-Ren [1 ]
机构：
[1] Harbin Inst Technol, Ctr Control Theory & Guidance Technol, Harbin 150001, Peoples R China
来源：
SYSTEMS & CONTROL LETTERS | 2022年 / 166卷
基金：
中国国家自然科学基金;
关键词：
Prescribed -time control; High -order nonholonomic systems; Scalarization; Time -varying feedback; Bounded feedback; EXPONENTIAL STABILIZATION; NONLINEAR-SYSTEMS; STABILITY; DESIGN;
D O I：
10.1016/j.sysconle.2022.105307
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. (C) 2022 Elsevier B.V. All rights reserved.
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页数：12
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