Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

In this paper, the stabilization problem of nonholonomic chained-form systems is addressed with uncertain constants. In this paper, the active disturbance rejection control (ADRC) is designed to solve this problem. The proposed control strategy combines extended state observer (ESO) and adaptive sli...

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Bibliographic Details
Published in:Complexity (New York, N.Y.) N.Y.), 2019-01, Vol.2019 (2019), p.1-12
Main Authors: Wang, Yuxuan, Xu, Shen, Sun, Xiaoying, Chen, Hua
Format: Article
Language:English
Subjects:
Active control
Adaptive control
Nonlinear systems
Rejection
Robust stabilization
Sliding mode control
State observers
System effectiveness
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Summary:In this paper, the stabilization problem of nonholonomic chained-form systems is addressed with uncertain constants. In this paper, the active disturbance rejection control (ADRC) is designed to solve this problem. The proposed control strategy combines extended state observer (ESO) and adaptive sliding mode controller. The control of nonholonomic chained-form systems with dynamic nonlinear uncertain terms and uncertain constants is first discussed in this paper. In comparison with existing methods, the proposed method in this paper has better performance. It is proved that, with the application of the proposed control strategy, semiglobal finite-time stabilization of the systems is achieved. An example is given to illustrate the effectiveness of the proposed method.
ISSN:1076-2787
1099-0526
DOI:10.1155/2019/1365134