The Experts below are selected from a list of 4935 Experts worldwide ranked by ideXlab platform
Yuqiang Wu - One of the best experts on this subject based on the ideXlab platform.
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fixed time regulation control of uncertain Nonholonomic Systems and its applications
International Journal of Control, 2017Co-Authors: Zhongcai Zhang, Yuqiang WuAbstract:ABSTRACTStabilisation of Nonholonomic Systems is of great practical importance to the industry. Moreover, fixed-time control is more comfortable than finite-time control since the upper bound of the settling time is independent on the initial system states in a fixed-time control issue and therefore can be estimated in advance. Inspired by the aforementioned two points, we consider the fixed-time stabilisation for a kind of uncertain Nonholonomic Systems subject to perturbations in this paper. A globally fixed-time stabilisation strategy is proposed by taking advantage of adding one power integrator technique and switching ideal. Under the designed controllers, all states can be regulated to zero before a fixed time and kept zero afterwards. As an application, the fixed-time stabilisation for a class of dynamic Nonholonomic Systems is also addressed by the combined method of adding one power integrator and terminal sliding-mode control. Three mechanical and academic examples are provided to show the flexi...
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saturated finite time stabilization of uncertain Nonholonomic Systems in feedforward like form and its application
Nonlinear Dynamics, 2016Co-Authors: Yuqiang Wu, Zhongcai ZhangAbstract:This paper investigates the problem of finite-time stabilization by state feedback for a class of uncertain Nonholonomic Systems with inputs saturation. Comparing with the existing relevant literature, a distinguishing feature of the Systems under investigation is that the x-subsystem is in feedforward-like form. Rigorous design procedure for saturated finite-time state feedback control is presented by using the adding a power integrator and the nested saturation methods. The development of saturated finite-time controller is also presented briefly for a class of dynamic Nonholonomic Systems in feedforward-like form. An application example for a kinematic hopping robot is provided to illustrate the effectiveness of the proposed approach.
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Output feedback stabilization of stochastic Nonholonomic Systems
2010 8th World Congress on Intelligent Control and Automation, 2010Co-Authors: Xiuyun Zheng, Yuqiang WuAbstract:This paper deals with the output feedback stabilization problem for the stochastic Nonholonomic Systems with unknown stochastic disturbances. The objective is to design the almost global asymptotical output feedback controllers in probability for the Systems by using discontinuous control. The switching control strategy based on the output measurement of the first subsystem is employed to achieve the asymptotic stabilization. An observer is introduced for states estimates. The integrator backstepping technique based on a constructive manipulation is applied to the design of the controller. The output feedback asymptotic stabilization in probability is realized. An example is given to show the effectiveness of the proposed scheme.
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Finite-time tracking controller design for a general class of Nonholonomic Systems
Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009Co-Authors: Yuqiang Wu, Ruiying Yuan, Xiuyun ZhengAbstract:A design scheme of the finite-time tracking controller is given for a general class of Nonholonomic Systems including extended chained Systems, extended power Systems, underactuated surface Systems, etc. By introducing a time-varying state transformation based on the concept of minimal dilation degree, this class of Nonholonomic Systems is transformed into a linear time-varying control Systems. The combination of the switching technique and the terminal sliding mode control scheme with finite-time convergence result in the accurately track for the reference model in finite time under two control laws. Finally, the proposed method is applied to the finite-time tracking control of Nonholonomic Systems.
Zhongcai Zhang - One of the best experts on this subject based on the ideXlab platform.
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fixed time regulation control of uncertain Nonholonomic Systems and its applications
International Journal of Control, 2017Co-Authors: Zhongcai Zhang, Yuqiang WuAbstract:ABSTRACTStabilisation of Nonholonomic Systems is of great practical importance to the industry. Moreover, fixed-time control is more comfortable than finite-time control since the upper bound of the settling time is independent on the initial system states in a fixed-time control issue and therefore can be estimated in advance. Inspired by the aforementioned two points, we consider the fixed-time stabilisation for a kind of uncertain Nonholonomic Systems subject to perturbations in this paper. A globally fixed-time stabilisation strategy is proposed by taking advantage of adding one power integrator technique and switching ideal. Under the designed controllers, all states can be regulated to zero before a fixed time and kept zero afterwards. As an application, the fixed-time stabilisation for a class of dynamic Nonholonomic Systems is also addressed by the combined method of adding one power integrator and terminal sliding-mode control. Three mechanical and academic examples are provided to show the flexi...
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saturated finite time stabilization of uncertain Nonholonomic Systems in feedforward like form and its application
Nonlinear Dynamics, 2016Co-Authors: Yuqiang Wu, Zhongcai ZhangAbstract:This paper investigates the problem of finite-time stabilization by state feedback for a class of uncertain Nonholonomic Systems with inputs saturation. Comparing with the existing relevant literature, a distinguishing feature of the Systems under investigation is that the x-subsystem is in feedforward-like form. Rigorous design procedure for saturated finite-time state feedback control is presented by using the adding a power integrator and the nested saturation methods. The development of saturated finite-time controller is also presented briefly for a class of dynamic Nonholonomic Systems in feedforward-like form. An application example for a kinematic hopping robot is provided to illustrate the effectiveness of the proposed approach.
Saleh Mobayen - One of the best experts on this subject based on the ideXlab platform.
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Disturbance observer and finite-time tracker design of disturbed third-order Nonholonomic Systems using terminal sliding mode
JVC Journal of Vibration and Control, 2017Co-Authors: Saleh Mobayen, Shamsi JavadiAbstract:© SAGE Publications.This paper proposes a novel recursive terminal sliding mode structure for tracking control of third-order chained-form Nonholonomic Systems in the presence of the unknown external disturbances. Finite-time convergence of the disturbance approximation error is guaranteed using the designed disturbance observer. Under the proposed terminal sliding model tracking control technique, the finite-time convergence of the states of the closed-loop system is guaranteed via Lyapunov analysis. A new reaching control law is proposed to guarantee the existence of the sliding mode around the recursive TSM surface in a finite-time. Simulation results are illustrated on a benchmark example of third-order chained-form Nonholonomic Systems: a wheeled mobile robot. The results demonstrate that the proposed control technique achieves promising tracking performance for Nonholonomic Systems.
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A finite-time tracker for Nonholonomic Systems using recursive singularity-free FTSM
Proceedings of the 2011 American Control Conference, 2011Co-Authors: Saleh Mobayen, Mohammad Javad Yazdanpanah, Vahid Johari MajdAbstract:A novel recursive singularity free FTSM (Fast Terminal Sliding Mode) strategy for finite time tracking control of Nonholonomic Systems is proposed. As a result, the singularity problem around the origin resulting from the fractional power of conventional terminal sliding mode is resolved. Simulation results are given for two benchmark examples of extended chained-form Nonholonomic Systems: a wheeled mobile robot and an under actuated surface vessel. The results show the effectiveness of the proposed strategy.
Fushun Yuan - One of the best experts on this subject based on the ideXlab platform.
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Finite-time stabilization of stochastic Nonholonomic Systems
Proceedings of the 31st Chinese Control Conference, 2012Co-Authors: Fushun YuanAbstract:This paper investigates the problem of finite-time stabilization for a class of stochastic Nonholonomic Systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated with x0(0) = 0, global stochastic finite-time regulation of the closed-loop system states is achieved. An illustrative example is also provided to demonstrate the effectiveness of the proposed controller.
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Robust stabilization of Nonholonomic Systems with time delays
2012 24th Chinese Control and Decision Conference (CCDC), 2012Co-Authors: Fushun YuanAbstract:This paper investigates the problem of state-feedback stabilization for a class of Nonholonomic Systems in chained form with time delays. By using input-state-scaling technique and backstepping recursive approach, and choosing an appropriate Lyapunov-Krasoviskii functional, a state-feedback controller is constructed. Based on switching strategy to overcome the uncontrollability, global asymptotic regulation of the closed-loop system is achieved. A simulation example is provided to show the effectiveness of the proposed method.
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robust adaptive control for Nonholonomic Systems with nonlinear parameterization
Nonlinear Analysis-real World Applications, 2010Co-Authors: Fushun YuanAbstract:Abstract In this paper, an adaptive controller is designed for a class of Nonholonomic Systems in chained form with nonlinear parameterization. The robust adaptive control law is developed using parameter separation, state scaling and backstepping technique. Global asymptotic regulation of the closed-loop system states is achieved. The proposed control based switching strategy is proposed to overcome the uncontrollability problem associated with x 0 ( t 0 ) = 0 .
Zhongping Jiang - One of the best experts on this subject based on the ideXlab platform.
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robust exponential regulation of Nonholonomic Systems with uncertainties
Automatica, 2000Co-Authors: Zhongping JiangAbstract:This paper deals with Nonholonomic control Systems in chained form with strongly nonlinear disturbances and drift terms. The objective is to design a robust nonlinear state and output feedback law which simultaneously solves the global exponential regulation problem for all plants in the class. A switching control strategy is employed to get around the smooth stabilization burden associated with Nonholonomic Systems. The systematic strategy involves the introduction of a state-scaling technique and the application of the so-called integrator backstepping procedure. For the output feedback case, an interlaced observer/controller scheme is introduced for Nonholonomic Systems design. While earlier controllers fail to maintain robustness in the face of small disturbances, the simulation results based on some practical examples demonstrate the efficiency and robust features of the method proposed in this paper.
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Robust controller design for uncertain Nonholonomic Systems
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251), 1999Co-Authors: Zhongping JiangAbstract:This paper deals with a new class of Nonholonomic control Systems with strongly nonlinear disturbances and drift terms. The objective is to design a robust nonlinear state feedback law which simultaneously solves the global exponential regulation problem for all plants in the class. A switching control strategy is employed to get around the smooth stabilization burden associated with Nonholonomic Systems. The systematic strategy involves the introduction of a state-scaling technique and the application of the so-called integrator backstepping procedure. Extension to the output-feedback case follows readily. Our theoretical development is validated via simulations.
