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.

引用

页数：12

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