scholarly journals Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Mobile Robot ◽  
Finite Time ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Finite Time Stability ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Finite Time Stabilization ◽  
System States

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 withx0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.

scholarly journals Finite-Time Stabilization for a Class of Nonlinear Differential-Algebraic Systems Subject to Disturbance

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Xiaohui Mo ◽  
Huawei Niu ◽  
Qixun Lan
Keyword(s):  
Finite Time ◽  
External Disturbance ◽  
Design Procedure ◽  
Homogeneous System ◽  
Algebraic Systems ◽  
Control Approach ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Finite Time Stabilization ◽  
Nominal Performance

In this paper, finite-time stabilization problem for a class of nonlinear differential-algebraic systems (NDASs) subject to external disturbance is investigated via a composite control manner. A composite finite-time controller (CFTC) is proposed with a three-stage design procedure. Firstly, based on the adding a power integrator technique, a finite-time control (FTC) law is explicitly designed for the nominal NDAS by only using differential variables. Then, by using homogeneous system theory, a continuous finite-time disturbance observer (CFTDO) is constructed to estimate the disturbance generated by an exogenous system. Finally, a composite controller which consists of a feedforward compensation part based on CFTDO and the obtained FTC law is proposed. Rigorous analysis demonstrates that not only the proposed composite controller can stabilize the NDAS in finite time, but also the proposed control scheme exhibits nominal performance recovery property. Simulation examples are provided to illustrate the effectiveness of the proposed control approach.

scholarly journals Further Result on Finite-Time Stabilization of Stochastic Nonholonomic Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Fangzheng Gao ◽  
Fushun Yuan ◽  
Jian Zhang ◽  
Yuqiang Wu
Keyword(s):  
Finite Time ◽  
Design Method ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Stochastic Disturbance ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Switching Control Strategy ◽  
Power Integrator ◽  
Theoretical Results

This paper further investigates the problem of finite-time state feedback stabilization for a class of stochastic nonholonomic systems in chained form. Compared with the existing literature, the stochastic nonholonomic systems under investigation have more uncertainties, such as thex0-subsystem contains stochastic disturbance. This renders the existing finite-time control methods highly difficult to the control problem of the systems or even inapplicable. In this paper, by extending adding a power integrator design method to a stochastic system and by skillfully constructingC2Lyapunov function, a novel switching control strategy is proposed, which renders that the states of closed-loop system are almost surely regulated to zero in a finite time. A simulation example is provided to demonstrate the effectiveness of the theoretical results.

scholarly journals Global Finite-Time Stabilization for a Class of Uncertain High-Order Nonlinear Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Jian Wang ◽  
Jing Xie ◽  
Fangzheng Gao
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
State Feedback ◽  
High Order ◽  
Finite Time Stability ◽  
Adding A Power Integrator ◽  
System A ◽  
Continuous State ◽  
Finite Time Stabilization ◽  
Power Integrator

This paper addresses the problem of global finite-time stabilization by state feedback for a class of high-order nonlinear systems under weaker condition. By using the methods of adding a power integrator, a continuous state feedback controller is successfully constructed to guarantee the global finite-time stability of the resulting closed-loop system. A simulation example is provided to illustrate the effectiveness of the proposed approach.

scholarly journals Finite-Time Control for a Coupled Four-Tank Liquid Level System Based on the Port-Controlled Hamiltonian Method

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Tao Xu ◽  
Haisheng Yu ◽  
Jinpeng Yu
Keyword(s):  
Finite Time ◽  
Controller Design ◽  
Design Procedure ◽  
Hamiltonian Function ◽  
Settling Time ◽  
Liquid Level ◽  
Level System ◽  
Time Control ◽  
Practical Engineering ◽  
The Relationship

This work investigates the finite-time control problem for a nonlinear four-tank cross-coupled liquid level system by the port-controlled Hamiltonian (PCH) model. A fixed-free methodology is exhibited which can be used to simplify the controller design procedure. To get an adjustable convergent gain of the finite-time control, a feasible technique named damping normalization is proposed. A novel parameter autotuning algorithm is given to clarify the principle of choosing parameters of the PCH method. Furthermore, a finite-time controller is designed by a state-error desired Hamiltonian function, and the relationship between the settling time and a parameter is given, which can be applied in practical engineering easily to adjust the settling time according to the industrial need. Finally, simulation and experimental results verify the effectiveness of the proposed algorithm.

scholarly journals Robust Finite-Timeℋ∞Control for Uncertain Systems Subject to Intermittent Measurements

2012 ◽  
Vol 2012 ◽  
pp. 1-15 ◽  
Author(s):  
Zhenghong Deng
Keyword(s):  
Finite Time ◽  
Controller Design ◽  
Design Method ◽  
Design Procedure ◽  
Linear Matrix ◽  
Finite Time Stability ◽  
System A ◽  
Controller Gain ◽  
Intermittent Measurements ◽  
Time Systems

This paper investigates the robust finite-timeℋ∞controller design problem of discrete-time systems with intermittent measurements. It is assumed that the system is subject to the norm-bounded uncertainties and the measurements are intermittent. The Bernoulli process is used to describe the phenomenon of intermittent measurements. By substituting the state-feedback controller into the system, a stochastic closed-loop system is obtained. Based on the analysis of the robust stochastic finite-time stability and theℋ∞performance, the controller design method is proposed. The controller gain can be calculated by solving a sequence of linear matrix inequalities. Finally, a numerical example is used to show the design procedure and the effectiveness of the proposed design methodology.

Finite-time stabilization of stochastic coupled systems on networks by feedback control and its application

2019 ◽  
Vol 37 (3) ◽  
pp. 814-830
Author(s):  
Yongbao Wu ◽  
Wenxue Li ◽  
Jiqiang Feng
Keyword(s):  
Finite Time ◽  
Coupled Oscillators ◽  
Lyapunov Method ◽  
Sufficient Conditions ◽  
Coupled Systems ◽  
Convergence Time ◽  
Practical Application ◽  
Finite Time Stability ◽  
Finite Time Stabilization ◽  
Theoretical Results

Abstract In this paper, the finite-time stabilization of stochastic coupled systems on networks (SCSNs) is studied. Different from previous research methods, the method used in this paper combines Lyapunov method with graph theory, and some novel sufficient conditions are obtained to ensure finite-time stability for SCSNs. Meanwhile, the convergence time is closely related to topological structure in networks. As a practical application in physics, we address a concrete finite-time stabilization problem of stochastic coupled oscillators through our main results. In addition, a numerical example is presented to illustrate the effectiveness and feasibility of the theoretical results.

Finite-time control of mobile robot systems with unmeasurable angular and linear velocities via bioinspired neurodynamics approach

2019 ◽  
Vol 85 ◽  
pp. 105753 ◽  
Author(s):  
Wei Zheng ◽  
Hongbin Wang ◽  
Fuchun Sun ◽  
Xiaolei Li ◽  
Shuhuan Wen
Keyword(s):  
Mobile Robot ◽  
Finite Time ◽  
Time Control ◽  
Robot Systems
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