Adaptive Finite-Time Stabilization of Nonholonomic Systems with Nonlinear Parameterization

摘要：

In this paper, adaptive finite-time control is presented for a class of uncertain nonholonomic systems in chained form with nonlinear parameterization. Using parameter separation, state scaling and backstepping, an adaptive finite-time control law is obtained in the form of continuous time-invariant feedback. Both Lyapunov stability and finite time convergence are guaranteed by appropriately choosing the design parameters. An adaptive control based switching strategy is used to overcome the uncontrollability problem associated with x0 (0) = 0. Simulation example demonstrates the effectiveness and the robust features of the proposed controller.

关键词： Adaptive Finite-time stability Nonholonomic systems Input-state-scaling Nonlinear parameterization

作者: Fangzheng Gao Fushun Yuan Hejun Yao

作者单位: School of Mathematical and Statistics, Anyang Normal University, Anyang 455000, China

会议类型: 国际会议

会议名称: The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

会议地点: 徐州

会议语种:英文

页码: 2132-2137

在线出版日期: 2010-05-26（万方平台首次上网日期，不代表论文的发表时间）