Adaptive finite-time stabilization for a class of uncertain high order nonholonomic systems

被引：45
作者：
Gao, Fangzheng [1 ]
Yuan, Fushun [1 ]
机构：
[1] Anyang Normal Univ, Sch Math & Stat, Anyang 455000, Peoples R China
来源：
ISA TRANSACTIONS | 2015年 / 54卷
关键词：
High order nonholonomic systems; Nonlinear parameterization; Adding a power integrator; Finite-time stabilization; EXPONENTIAL STABILIZATION; FEEDBACK STABILIZATION; NONLINEAR-SYSTEMS; STATE; DESIGN;
D O I：
10.1016/j.isatra.2014.07.009
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 adaptive finite-time stabilization problem is investigated for a class of high order nonholonomic systems in power chained form with strong nonlinear drifts and nonlinear parameterization. By skillfully using finite-time stability theorem, parameter separation technique and adding a power integrator method, an adaptive state feedback controller is obtained. To overcome the obstacle that x-subsystem is uncontrollable when the control input u(0) = 0, a novel switching control strategy is given. Based on this, the designed controller renders that the states of closed-loop system are regulated to zero in a finite time. Two illustrative examples are also provided to demonstrate the effectiveness of the proposed controller. (C) 2014 ISA Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：75 / 82
页数：8
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