Title :
Semi-global robust finite time stabilization of non-holonomic chained form systems with perturbed terms
Author :
Wang, Jiankui ; Zhao, Yuanyuan ; Song, Xingguo ; Zhang, Guoshan
Author_Institution :
Sch. of Electr. Eng. & Autom., Tianjin Univ., Tianjin, China
Abstract :
This paper considers semi-global robust finite time stabilization of non-holonomic chained form systems with perturbed terms. The objective is to design a non-smooth state feedback law such that the controlled chained form system is both Lyapunov stable and finite-time convergent within any given settling time for any given initial states. We propose a novel switching control strategy with help of time-rescaling and Lyapunov-based method.
Keywords :
Lyapunov methods; nonlinear control systems; perturbation techniques; robust control; stability; state feedback; time-varying systems; Lyapunov stable; controlled chained form system; finite time convergent; nonholonomic chained; nonsmooth state feedback law; perturbed term; semiglobal robust finite time stabilization; switching control strategy; Convergence; Design methodology; Lyapunov method; Robustness; Stability analysis; Switches; Finite Time Control; Non-holonomic systems; Nonlinear Control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5553907
