A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws

Duan，Guang Ren1,2

2024-02-01

10.1007/s11432-022-3730-8

Science China Information Sciences   影响因子和分区

1674-733X

1869-1919

In this paper, a type of general nonholonomic systems is proposed, which contains both the Brockett’s two example systems, and their extended n-dimensional chained forms, as special cases. For the stabilization of such systems, a stabilizing controller is proposed based on the fully actuated system (FAS) approach, which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant, and drives the feasible trajectories of the system to the origin exponentially. Furthermore, the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

exponential convergence feedback stabilization nonholonomic systems sub-fully actuated systems time-delay systems

SCI ; EI

英语

第一

2-s2.0-85181973145

Scopus

1.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,518055,China
2.Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin,150001,China

Duan，Guang Ren. A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws[J]. Science China Information Sciences,2024,67(2).

Duan，Guang Ren.(2024).A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws.Science China Information Sciences,67(2).

Duan，Guang Ren."A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws".Science China Information Sciences 67.2(2024).