Robust stabilization of nonholonomic systems with time delays

Author

Gao, Fangzheng ; Yuan, Fushun ; Yao, Hejun

Author_Institution

Sch. of Math. & Stat., Anyang Normal Univ., Anyang, China

fYear

2012

fDate

23-25 May 2012

Firstpage

2111

Lastpage

2115

Abstract

This paper investigates the problem of state-feedback stabilization for a class of nonholonomic systems in chained form with time delays. By using input-state-scaling technique and backstepping recursive approach, and choosing an appropriate Lyapunov-Krasoviskii functional, a state-feedback controller is constructed. Based on switching strategy to overcome the uncontrollability, global asymptotic regulation of the closed-loop system is achieved. A simulation example is provided to show the effectiveness of the proposed method.

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; delays; recursive functions; robust control; state feedback; time-varying systems; Lyapunov-Krasoviskii functional; backstepping recursive approach; closed-loop system; global asymptotic regulation; input-state-scaling technique; nonholonomic systems; robust stabilization; state-feedback controller; state-feedback stabilization; switching strategy; time delays; uncontrollability; Adaptive systems; Backstepping; Delay effects; History; Robustness; Switches; Global asymptotic regulation; Input-state-scaling; Nonholonomic systems; Time delays;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2012 24th Chinese

Conference_Location

Taiyuan

Print_ISBN

978-1-4577-2073-4

Type

conf

DOI

10.1109/CCDC.2012.6244339

Filename

6244339