scholarly journals Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties

2013 ◽  
Vol 2013 ◽  
pp. 1-7
Author(s):  
Hua Chen ◽  
Wen Chen ◽  
Chaoli Wang ◽  
Dongkai Zhang ◽  
Binwu Zhang
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Design Method ◽  
Parameter Uncertainties ◽  
Wheeled Mobile Robots ◽  
Finite Time Stability ◽  
Systematic Strategy ◽  
Switching Controller ◽  
Finite Time Stabilization ◽  
First Time

The finite-time stabilization problem of dynamic nonholonomic wheeled mobile robots with parameter uncertainties is considered for the first time. By the equivalent coordinate transformation of states, an uncertain 5-order chained form system can be obtained, based on which a discontinuous switching controller is proposed such that all the states of the robots can be stabilized to the origin equilibrium point within any given settling time. The systematic strategy combines the theory of finite-time stability with a new switching control design method. Finally, the simulation result illustrates the effectiveness of the proposed controller.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

scholarly journals Finite-Time Stabilization for Stochastic Inertial Neural Networks with Time-Delay via Nonlinear Delay Controller

2018 ◽  
Vol 2018 ◽  
pp. 1-11
Author(s):  
Deyi Li ◽  
Yuanyuan Wang ◽  
Guici Chen ◽  
Shasha Zhu
Keyword(s):  
Neural Networks ◽  
Time Delay ◽  
Finite Time ◽  
Design Method ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Nonlinear Feedback ◽  
Inertial Neural Networks ◽  
Finite Time Stabilization

This paper pays close attention to the problem of finite-time stabilization related to stochastic inertial neural networks with or without time-delay. By establishing proper Lyapunov-Krasovskii functional and making use of matrix inequalities, some sufficient conditions on finite-time stabilization are obtained and the stochastic settling-time function is also estimated. Furthermore, in order to achieve the finite-time stabilization, both delayed and nondelayed nonlinear feedback controllers are designed, respectively, in terms of solutions to a set of linear matrix inequalities (LMIs). Finally, a numerical example is provided to demonstrate the correction of the theoretical results and the effectiveness of the proposed control design method.

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.

scholarly journals Finite-Time Robust Stabilization for Stochastic Neural Networks

2012 ◽  
Vol 2012 ◽  
pp. 1-15 ◽  
Author(s):  
Weixiong Jin ◽  
Xiaoyang Liu ◽  
Xiangjun Zhao ◽  
Nan Jiang ◽  
Zhengxin Wang
Keyword(s):  
Neural Networks ◽  
Finite Time ◽  
Robust Stabilization ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Stochastic Nonlinear Systems ◽  
Stochastic Neural Networks ◽  
Time Stability ◽  
Finite Time Stability ◽  
Finite Time Stabilization

This paper is concerned with the finite-time stabilization for a class of stochastic neural networks (SNNs) with noise perturbations. The purpose of the addressed problem is to design a nonlinear stabilizator which can stabilize the states of neural networks in finite time. Compared with the previous references, a continuous stabilizator is designed to realize such stabilization objective. Based on the recent finite-time stability theorem of stochastic nonlinear systems, sufficient conditions are established for ensuring the finite-time stability of the dynamics of SNNs in probability. Then, the gain parameters of the finite-time controller could be obtained by solving a linear matrix inequality and the robust finite-time stabilization could also be guaranteed for SNNs with uncertain parameters. Finally, two numerical examples are given to illustrate the effectiveness of the proposed design method.

scholarly journals Finite-Time Stabilization and Destabilization Analysis of Quaternion-Valued Neural Networks with Discrete Delays

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Huiling Duan ◽  
Tao Peng ◽  
Zhengwen Tu ◽  
Jianlong Qiu
Keyword(s):  
Neural Networks ◽  
Finite Time ◽  
Time Interval ◽  
Nonlinear Controller ◽  
Finite Time Stability ◽  
Stability And Instability ◽  
Discrete Delays ◽  
Finite Time Stabilization ◽  
Matrix Differential ◽  
Vector Matrix

In this paper, the finite-time stabilization and destabilization of a class of quaternion-valued neural networks (QVNNs) with discrete delays are investigated. In order to surmount the difficulty of noncommutativity of quaternion, a new vector matrix differential equation (VMDE) is proposed by employing decomposition method. And then, a nonlinear controller is designed to stabilize the VMDE in a finite-time interval. Furthermore, under that controller, the finite-time stability and instability of the QVNNs are analyzed via Lyapunov function approach, and two criteria are derived, respectively; furthermore, the settling time is also estimated. At last, by two illustrative examples we verify the correctness of the conclusions.

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