Salvato in:
| Autori principali: | , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2024
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2409.03337 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
Sommario:
- 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.