Title :
Global finite-time stabilization for a class of extended nonholonomic chained system
Author :
Hua Chen ; Haitao Cao ; Yawei Wang ; Yan Lei ; Weixu Chen
Author_Institution :
Math. & Phys. Dept., Hohai Univ., Changzhou, China
Abstract :
This article considers the finite-time stabilization problem for the "3 inputs, 2 chains, 1 generator" extented nonholonomic chained form system. By using the step-by-step design method and the finite-time stability theory, a multi-step stabilizer is proposed to make the corresponding closed-loop system is globally stable in a settled time. Finally, the simulation example show the correctness and the validity of the design method.
Keywords :
closed loop systems; control system synthesis; stability; 3-input-2-chain-1-generator system; design method; extended nonholonomic chained system; global finite-time stabilization; globally stable closed-loop system; multistep stabilizer; settling time; Asymptotic stability; Closed loop systems; Electronic mail; Kinematics; Mobile robots; Switches;
Conference_Titel :
Mechatronics and Control (ICMC), 2014 International Conference on
Print_ISBN :
978-1-4799-2537-7
DOI :
10.1109/ICMC.2014.7231962
