Adaptive control of uncertain nonholonomic systems in finite time

Title:

Adaptive control of uncertain nonholonomic systems in finite time

Creator:

Wang, Jiankui, Zhang, Guoshan, and Li, Hongyi

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:52004fd0-fdb5-46b6-9a48-e2ef5a1d5dfd
uuid:52004fd0-fdb5-46b6-9a48-e2ef5a1d5dfd

Subject:

finite-time convergence, parameter uncertainty, adaptive control, and nonholonomic systems

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed controller.

Language:

English

Rights:

http://creativecommons.org/publicdomain/mark/1.0/
policy:public

Coverage:

[809]-824

Source:

Kybernetika | 2009 Volume:45 | Number:5

Harvested from:

CDK

Metadata only:

false