Finite-Time Discontinuous Control of Nonholonomic Chained-Form Systems

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 co...

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Bibliographic Details
Published in:IEEE transactions on circuits and systems. II, Express briefs Express briefs, 2023-06, Vol.70 (6), p.2001-2005
Main Authors: Zhu, Wenwu, Yu, Xinghuo, Li, Shihua, Du, Haibo
Format: Article
Language:English
Subjects:
Automation
chained-form systems
Control methods
Control systems
Control theory
Convergence
Coordinate transformations
discontinuous control
finite-time control
Mobile robots
Nonholonomic systems
Stability analysis
Subsystems
Transforms
Underwater vehicles
Vehicle dynamics
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Summary: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.
ISSN:1549-7747
1558-3791
DOI:10.1109/TCSII.2022.3227200