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Finite-Time Discontinuous Control of Nonholonomic Chained-Form Systems
- Source :
- Circuits and Systems II: Express Briefs, IEEE Transactions on; 2023, Vol. 70 Issue: 6 p2001-2005, 5p
- Publication Year :
- 2023
-
Abstract
- A finite-time discontinuous control method is proposed for controlling nonholonomic chained-form systems. Through a general discontinuous coordinate transformation, the nonholonomic system is transformed into two decoupled subsystems that are independently stabilized with control laws. Sufficient conditions for the existence of decoupled subsystems and finite-time convergence of system states are given. Furthermore, the finite-time discontinuous control laws are proposed to ensure that the system states reach the equilibrium in a finite time. Simulation results are presented to demonstrate the effectiveness and advantages of the proposed approach.
Details
- Language :
- English
- ISSN :
- 15497747 and 15583791
- Volume :
- 70
- Issue :
- 6
- Database :
- Supplemental Index
- Journal :
- Circuits and Systems II: Express Briefs, IEEE Transactions on
- Publication Type :
- Periodical
- Accession number :
- ejs63164975
- Full Text :
- https://doi.org/10.1109/TCSII.2022.3227200