Adaptive control of uncertain nonholonomic systems in finite time

Jiankui Wang; Guoshan Zhang; Hongyi Li

Kybernetika (2009)

  • Volume: 45, Issue: 5, page 809-824
  • ISSN: 0023-5954

Abstract

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In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed controller.

How to cite

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Wang, Jiankui, Zhang, Guoshan, and Li, Hongyi. "Adaptive control of uncertain nonholonomic systems in finite time." Kybernetika 45.5 (2009): 809-824. <http://eudml.org/doc/37697>.

@article{Wang2009,
abstract = {In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed controller.},
author = {Wang, Jiankui, Zhang, Guoshan, Li, Hongyi},
journal = {Kybernetika},
keywords = {finite-time convergence; parameter uncertainty; adaptive control; nonholonomic systems; finite-time convergence; parameter uncertainty; adaptive control; nonholonomic systems},
language = {eng},
number = {5},
pages = {809-824},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Adaptive control of uncertain nonholonomic systems in finite time},
url = {http://eudml.org/doc/37697},
volume = {45},
year = {2009},
}

TY - JOUR
AU - Wang, Jiankui
AU - Zhang, Guoshan
AU - Li, Hongyi
TI - Adaptive control of uncertain nonholonomic systems in finite time
JO - Kybernetika
PY - 2009
PB - Institute of Information Theory and Automation AS CR
VL - 45
IS - 5
SP - 809
EP - 824
AB - In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed controller.
LA - eng
KW - finite-time convergence; parameter uncertainty; adaptive control; nonholonomic systems; finite-time convergence; parameter uncertainty; adaptive control; nonholonomic systems
UR - http://eudml.org/doc/37697
ER -

References

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  12. Nonlinear and Adaptive Control Systems Design, Wiley, New York 1995. 
  13. Global finite-time stabilization by dynamic output feedback for a class of continuous nonlinear systems, IEEE Trans. Automat. Control 51 (2006), 879–884. MR2232618
  14. Finite-time stability of cascaded time-varying systems, Internat. J. Control 80 (2007), 646–657. MR2304124
  15. Finite-time stabilizing excitation control of a synchronous generator, Internat. J. Systems Sci. 33 (2002), 13–22. MR1900026
  16. A switching algorithm for global exponential stabilization of uncertain chained systems, IEEE Trans. Automat. Control 48 (2003), 1793–1798. MR2021431

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