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Finite-time stabilisation for a class of output-constrained nonholonomic systems with its application

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  • Fangzheng Gao
  • Yuqiang Wu
  • Hongsheng Li
  • Yanhong Liu

Abstract

This paper studies the problem of finite-time stabilisation for a class of uncertain nonholonomic systems in chained form with output constraint. A nonlinear mapping is first introduced to transform the output-constrained system into a new unconstrained one. Then, by employing the adding a power integrator technique and switching control strategy, a state feedback controller is successfully constructed to render that the states of closed-loop system converge to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of finite-time parking a unicycle-type mobile robot is tackled. Simulation results are given to demonstrate the effectiveness of the proposed method.

Suggested Citation

  • 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.
    • Handle: RePEc:taf:tsysxx:v:49:y:2018:i:10:p:2155-2169
    DOI: 10.1080/00207721.2018.1494863
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    Cited by:

    1. Yao, Hejun & Gao, Fangzheng & Huang, Jiacai & Wu, Yuqiang, 2021. "Global prescribed-time stabilization via time-scale transformation for switched nonlinear systems subject to switching rational powers," Applied Mathematics and Computation, Elsevier, vol. 393(C).
    2. 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.

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