Finite-time stability of cascaded time-varying systems

被引：249

作者：

Li, S. ^{[1
]}

Tian, Y. -P. ^{[1
]}

机构：

[1] Southeast Univ, Coll Automat, Nanjing 210096, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2007年 / 80卷 / 04期

基金：

中国国家自然科学基金;

关键词：

D O I：

10.1080/00207170601148291

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The uniform global finite-time stability is discussed for a cascaded time-varying system consisting of two uniformly finite-time stable subsystems. It is shown that a forward completeness condition is enough to ensure the uniform global finite-time stability of the system. For ease of reference, a particular result with a growth rate condition is also deduced. These stability results are applied to the tracking control problem of a non-holonomic wheeled mobile robot in kinematic model. Two tracking control laws are developed respectively for two different cases of the desired rotate velocity. Both control laws are continuous and can control the mobile robot to track the desired trajectory in finite time. Simulation results are provided to show the effectiveness of the method.

引用

页码：646 / 657

页数：12