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Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach

Author

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  • Zhongcai Zhang

    (School of Artificial Intelligence, Nankai University, Tianjin 300350, China
    School of Engineering, Qufu Normal University, Rizhao 276826, China)

  • Xueli Hu

    (School of Engineering, Qufu Normal University, Rizhao 276826, China)

  • Yang Gao

    (School of Engineering, Qufu Normal University, Rizhao 276826, China)

  • Xiaodan Hou

    (Center of Brain Science Research, Qufu Normal University, Rizhao 276826, China)

Abstract

In this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction of state scaling, the barrier Lyapunov function (BLF), the integrator backstepping method, and the tuning function approach. In addition, a discontinuous switching control strategy is proposed to achieve the control goal if the first system state’s initial state is confined to zero. In both stabilization and adaptive stabilization control, the system states can be regulated at the origin, and meanwhile, the full-state constraints are realized. Finally, it is shown that the simulation results are consistent with the theory analysis results, which further demonstrates the effectiveness of the proposed control schemes.

Suggested Citation

  • Zhongcai Zhang & Xueli Hu & Yang Gao & Xiaodan Hou, 2023. "Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach," Mathematics, MDPI, vol. 12(1), pages 1-19, December.
    • Handle: RePEc:gam:jmathe:v:12:y:2023:i:1:p:59-:d:1306645
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    References listed on IDEAS

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    1. Lixiong Lin & Zhiping Xu & Jiachun Zheng, 2023. "Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots," Mathematics, MDPI, vol. 11(12), pages 1-21, June.
    2. Zhang, Jing & Xia, Jianwei & Sun, Wei & Zhuang, Guangming & Wang, Zhen, 2018. "Finite-time tracking control for stochastic nonlinear systems with full state constraints," Applied Mathematics and Computation, Elsevier, vol. 338(C), pages 207-220.
    3. Ben Niu & Jun Zhao, 2013. "Tracking control for output-constrained nonlinear switched systems with a barrier Lyapunov function," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(5), pages 978-985.
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