Finite-time stabilization for a class of nonholonomic feedforward systems subject to inputs saturation

被引:19
作者
Gao, Fangzheng [1 ,4 ,5 ]
Yuan, Ye [2 ]
Wu, Yuqiang [3 ]
机构
[1] Anyang Normal Univ, Sch Math & Stat, Anyang 455000, Peoples R China
[2] Chongqing Radio & TV Univ, Chongqing Technol & Business Inst, Chongqing 400052, Peoples R China
[3] Qufu Normal Univ, Inst Automat, Qufu 273165, Peoples R China
[4] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
[5] NYU, Tandon Sch Engn, Brooklyn, NY 11201 USA
关键词
Nonholonomic feedforward systems; Inputs saturation; Homogeneous domination approach; Nested saturation; Finite-time stabilization; OUTPUT-FEEDBACK STABILIZATION; ORDER NONLINEAR-SYSTEMS; EXPONENTIAL STABILIZATION; PRACTICAL STABILIZATION; ADAPTIVE STABILIZATION; CHAINED SYSTEMS; MOBILE ROBOTS; DESIGN; DELAY; STATE;
D O I
10.1016/j.isatra.2016.06.001
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 problem of finite-time stabilization by state feedback for a class of uncertain nonholonomic systems in feedforward-like form subject to inputs saturation. Under the weaker homogeneous condition on systems growth, a saturated finite-time control scheme is developed by exploiting the adding a power integrator method, the homogeneous domination approach and the nested saturation technique. Together with a novel switching control strategy, the designed saturated controller guarantees that the states of closed-loop system are regulated to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of saturated finite-time control for vertical wheel on rotating table is solved. Simulation results are given to demonstrate the effectiveness of the proposed method. (C) 2016 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码:193 / 201
页数:9
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