Robust Finite-Time Stabilization of Fractional-Order Extended Nonholonomic Chained Form Systems

被引：11

作者：

Chen, Hua ^{[1
,2
]}

Yan, Da ^{[3
]}

Chen, Xi ^{[4
]}

Lei, Yan ^{[5
]}

Wang, Yawei ^{[5
]}

机构：

[1] Hohai Univ, Dept Math & Phys, Changzhou Campus, Changzhou 213022, Peoples R China

[2] Changzhou Key Lab Special Robot & Intelligent Tec, Changzhou 213022, Peoples R China

[3] Hohai Univ, Coll Mech & Elect Engn, Changzhou 213022, Peoples R China

[4] Changzhou Inst Light Ind Technol, Dept Math, Changzhou 213164, Peoples R China

[5] Hohai Univ, Coll Internet Things Engn, Changzhou 213022, Peoples R China

来源：

PROCEEDINGS OF THE 2015 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL 2 | 2016年 / 360卷

关键词：

Nonholonomic control systems; Fractional-order; Extended chained-form systems; Finite-time stabilization; MOBILE ROBOT; EXPONENTIAL STABILIZATION; TRACKING CONTROL; VARYING CONTROL; FEEDBACK; CONTROLLERS;

D O I：

10.1007/978-3-662-48365-7_1

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We discuss the robust, finite-time stabilization of fractional-order extended nonholonomic chained form systems for the first time in this article. By applying sliding mode variable structure theory and stability theorem of finite-time control, the three-step switching control scheme is proposed to deal with the presence of system uncertainties and external disturbance, so that the closed-loop system is finite time stable at the origin equilibrium point within any given settling time. Finally, simulation results show the effectiveness of the presented controller.

引用

页码：1 / 15

页数：15

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