Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach
文献类型：期刊论文
| 作者 | Zhongcai Zhang; Guangren Duan |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:5页码:1262-1273 |
| 关键词 | Disturbance observer exponential stabilization finite-time stabilization fully actuated systems nonholonomic systems |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2023.124098 |
| 英文摘要 | This study examines the stabilization issue of extended chained nonholonomic systems (ECNSs) with external disturbance. Unlike the existing approaches, we transform the considered system into a fully actuated system (FAS) model, simplifying the stabilizing controller design. We implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer (FTDO) for the two system inputs. In addition, we discuss the specifics of global stabilization control design. Our approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy, while all other system states converge to zero within a finite time. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55714]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Zhongcai Zhang,Guangren Duan. Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(5):1262-1273. |
| APA | Zhongcai Zhang,&Guangren Duan.(2024).Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach.IEEE/CAA Journal of Automatica Sinica,11(5),1262-1273. |
| MLA | Zhongcai Zhang,et al."Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach".IEEE/CAA Journal of Automatica Sinica 11.5(2024):1262-1273. |
入库方式： OAI收割
来源：自动化研究所
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