scholarly journals Adaptive Stabilization for Nonholonomic Systems with Unknown Time Delays

2013 ◽  
Vol 2013 ◽  
pp. 1-14
Author(s):  
Yuanyuan Wu ◽  
Qingbo Li ◽  
Yuqiang Wu
Keyword(s):  
Time Delays ◽  
State Feedback ◽  
Nonholonomic Systems ◽  
Adaptive Stabilization ◽  
Closed Loop Systems ◽  
Nonlinear Uncertainties ◽  
Adaptive Control Strategy ◽  
Unknown Time Delays ◽  
Nonlinear State ◽  
Control Coefficients

This paper presents an adaptive control strategy for a class of nonholonomic systems in chained form with virtual control coefficients, nonlinear uncertainties, and unknown time delays. State scaling technique and backstepping recursive approach are applied to design a nonlinear state feedback controller, which can guarantee the stabilization of the closed-loop systems. The simulation results are provided to show the effectiveness of the proposed method.

scholarly journals Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-17
Author(s):  
Yuanyuan Wu ◽  
Zicheng Wang ◽  
Yuqiang Wu ◽  
Qingbo Li
Keyword(s):  
Output Feedback ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Input State ◽  
Adaptive Stabilization ◽  
Closed Loop Systems ◽  
Stabilization Control ◽  
Parameter Separation ◽  
Unknown Time Delays

This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method.

Adaptive NN Control Without Feasibility Conditions for Nonlinear State Constrained Stochastic Systems With Unknown Time Delays

2019 ◽  
Vol 49 (12) ◽  
pp. 4485-4494 ◽  
Author(s):  
Dapeng Li ◽  
Lei Liu ◽  
Yan-Jun Liu ◽  
Shaocheng Tong ◽  
C. L. Philip Chen
Keyword(s):  
Time Delays ◽  
Stochastic Systems ◽  
Unknown Time Delays ◽  
Nonlinear State

scholarly journals An LMI Approach to Nonlinear State-Feedback Stability of Uncertain Time-Delay Systems in the Presence of Lipschitzian Nonlinearities

Symmetry ◽  
2020 ◽  
Vol 12 (11) ◽  
pp. 1883
Author(s):  
Mehdi Golestani ◽  
Saleh Mobayen ◽  
S. Hassan HosseinNia ◽  
Saeed Shamaghdari
Keyword(s):  
Time Delay ◽  
Time Delays ◽  
State Feedback ◽  
State Feedback Control ◽  
System Stability ◽  
Control Technique ◽  
Delay Systems ◽  
Feedback Stability ◽  
System Uncertainties ◽  
Nonlinear State

This article proposes a new nonlinear state-feedback stability controller utilizing linear matrix inequality (LMI) for time-delay nonlinear systems in the presence of Lipschitz nonlinearities and subject to parametric uncertainties. Following the Lyapunov–Krasovskii stabilization scheme, the asymptotic stability criterion resulted in the LMI form and the nonlinear state-feedback control technique was determined. Due to their significant contributions to the system stability, time delays and system uncertainties were taken into account while the suggested scheme was designed so that the system’s stabilization was satisfied in spite of time delays and system uncertainties. The benefit of the proposed method is that not only is the control scheme independent of the system order, but it is also fairly simple. Hence, there is no complexity in using the proposed technique. Finally, to justify the proficiency and performance of the suggested technique, a numerical system and a rotational inverted pendulum were studied. Numerical simulations and experimental achievements prove the efficiency of the suggested control technique.

scholarly journals A New Approach to Adaptive Stabilization of Stochastic High-Order Nonholonomic Systems

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
Guangju Li ◽  
Kemei Zhang
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Nonholonomic Systems ◽  
High Order ◽  
Function Technique ◽  
Adaptive Stabilization ◽  
Closed Loop System ◽  
Sign Function ◽  
New Approach ◽  
Asymptotic Stability In Probability

This paper studies the problem of adaptive stabilization for a class of stochastic high-order nonholonomic systems. Under the weaker assumptions, by constructing the appropriate Lyapunov function and combining sign function technique, an adaptive state feedback controller is designed to guarantee global asymptotic stability in probability of the closed-loop system. The effectiveness of the controller is demonstrated by a mechanical system.

scholarly journals Adaptive Exponential Stabilization for a Class of Stochastic Nonholonomic Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Xiaoyan Qin
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Nonholonomic Systems ◽  
Input State ◽  
Stabilization Problem ◽  
Adaptive Stabilization ◽  
Closed Loop System ◽  
Scaling Technique ◽  
Switching Strategy ◽  
Parameter Separation

This paper investigates the adaptive stabilization problem for a class of stochastic nonholonomic systems with strong drifts. By using input-state-scaling technique, backstepping recursive approach, and a parameter separation technique, we design an adaptive state feedback controller. Based on the switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller can guarantee that the states of closed-loop system are global bounded in probability.

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