Global prescribed-time control of a class of uncertain nonholonomic systems by smooth time-varying feedback
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2024
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866913492119846912 |
|---|---|
| author | Zhang, Kang-Kang Zhou, Bin Fan, Chenchen Lam, James |
| author_facet | Zhang, Kang-Kang Zhou, Bin Fan, Chenchen Lam, James |
| contents | This paper investigates the prescribed-time smooth control problem for a class of uncertain nonholonomic systems. With a novel smooth time-varying state transformation, the uncertain chained nonholonomic system is reformulated as an uncertain linear time-varying system. By fully utilizing the properties of a class of parametric Lyapunov equations and constructing time-varying Lyapunov-like functions, smooth time-varying high-gain state and output feedback controllers are designed. The states and controllers are proven to converge to zero at any prescribed time. The proposed smooth time-varying method combines the advantage of a time-varying high-gain function, which enhances control performance, and a smooth time-varying function that can drive the states to zero at the prescribed time. The effectiveness of the proposed methods is verified by a numerical example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_03337 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Global prescribed-time control of a class of uncertain nonholonomic systems by smooth time-varying feedback Zhang, Kang-Kang Zhou, Bin Fan, Chenchen Lam, James Optimization and Control This paper investigates the prescribed-time smooth control problem for a class of uncertain nonholonomic systems. With a novel smooth time-varying state transformation, the uncertain chained nonholonomic system is reformulated as an uncertain linear time-varying system. By fully utilizing the properties of a class of parametric Lyapunov equations and constructing time-varying Lyapunov-like functions, smooth time-varying high-gain state and output feedback controllers are designed. The states and controllers are proven to converge to zero at any prescribed time. The proposed smooth time-varying method combines the advantage of a time-varying high-gain function, which enhances control performance, and a smooth time-varying function that can drive the states to zero at the prescribed time. The effectiveness of the proposed methods is verified by a numerical example. |
| title | Global prescribed-time control of a class of uncertain nonholonomic systems by smooth time-varying feedback |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2409.03337 |