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Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

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  • Hua Chen
  • Xiaoying Sun
  • Shen Xu
  • Yuxuan Wang

Abstract

In this paper, the stabilization problem of nonholonomic chained-form systems is addressed with uncertain constants. In this paper, the active disturbance rejection control (ADRC) is designed to solve this problem. The proposed control strategy combines extended state observer (ESO) and adaptive sliding mode controller. The control of nonholonomic chained-form systems with dynamic nonlinear uncertain terms and uncertain constants is first discussed in this paper. In comparison with existing methods, the proposed method in this paper has better performance. It is proved that, with the application of the proposed control strategy, semiglobal finite-time stabilization of the systems is achieved. An example is given to illustrate the effectiveness of the proposed method.

Suggested Citation

  • Hua Chen & Xiaoying Sun & Shen Xu & Yuxuan Wang, 2019. "Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control," Complexity, Hindawi, vol. 2019, pages 1-12, March.
    • Handle: RePEc:hin:complx:1365134
    DOI: 10.1155/2019/1365134
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    References listed on IDEAS

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    1. Hua Chen & Shen Xu & Lulu Chu & Fei Tong & Lei Chen, 2018. "Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates," Complexity, Hindawi, vol. 2018, pages 1-9, October.
    2. Fangzheng Gao & Yuqiang Wu & Hongsheng Li & Yanhong Liu, 2018. "Finite-time stabilisation for a class of output-constrained nonholonomic systems with its application," International Journal of Systems Science, Taylor & Francis Journals, vol. 49(10), pages 2155-2169, July.
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