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New Stabilization Controller of State-Constrained Nonholonomic Systems With Disturbances: Theory and Experiment.
- Source :
- IEEE Transactions on Industrial Electronics; Jan2023, Vol. 70 Issue 1, p669-677, 9p
- Publication Year :
- 2023
-
Abstract
- In this article, a new stabilization control strategy is designed for a kind of nonholonomic system under full-state constraints and external disturbances. First, a stabilization controller for the first input is proposed to divide the entire control process into two stages. Then, using state transformations, the remaining original system is converted into an unconstrained system for which the stabilization controller is designed based on dynamic surface control. Stability analysis has established that the developed stabilization control algorithm can achieve the desired stabilization control objectives and the predefined full-state constraints. Meanwhile, all closed-loop signals keep bounded in the whole control process. Simulation and experiment results are given finally to demonstrate the effectiveness of the proposed stabilization control algorithm. [ABSTRACT FROM AUTHOR]
- Subjects :
- NONHOLONOMIC dynamical systems
SYSTEMS theory
TIME-varying systems
MOBILE robots
Subjects
Details
- Language :
- English
- ISSN :
- 02780046
- Volume :
- 70
- Issue :
- 1
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Industrial Electronics
- Publication Type :
- Academic Journal
- Accession number :
- 158870095
- Full Text :
- https://doi.org/10.1109/TIE.2022.3153818