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Języki publikacji
Abstrakty
This note addresses the stabilization problem of nonlinear chained-form systems with input time delay. We first employ the so-called σ-process transformation that renders the feedback system under a linear form. We introduce a particular transformation to convert the original system into a delay-free system. Finally, we apply a state feedback control, which guarantees a quasi-exponential stabilization to all the system states, which in turn converge exponentially to zero. Then we employ the so-called -type control to achieve a quasi-exponential stabilization of the subsequent system. A simulation example illustrated on the model of a wheeled mobile robot is provided to demonstrate the effectiveness of the proposed approach.
Czasopismo
Rocznik
Tom
Strony
515--525
Opis fizyczny
Bibliogr. 11 poz., wykr., wzory
Twórcy
autor
- Department of Electrical and Computer Engineering, Sultan Qaboos University, P.O. Box 33, Muscat, Oman, Saudi Arabia
Bibliografia
- [1] R. W. Brockett: Asymptotic stability and feedback stabilization. In Differential Geometry Control Theory, (R.W. Brockett, R.S. Millman and H.J. Sussmann, eds.), Birkhauser, Boston, 1983, 181-191.
- [2] A. M. Bloch: Nonholonomic Mechanics and Control. Springer, Interdisciplinary Applied Mathematics series, 2015.
- [3] Y. G. Martynenko: Motion control of mobile wheeled robots. J. of Mathematical Sciences, 147 (2007), 6569-6606.
- [4] A. M. Bloch, M. Reyhanoglu and N. H. McClamroch: Control and stabilization of nonholonomic dynamic systems. IEEE Trans. on Automatic Control, 37(11), (1992), 1746-1757.
- [5] R. T. M’Closkey and R.M. Murray: Nonholonomic systems and exponential convergence: some analysis tools. 32nd IEEE Conf. on Decision and Control, S. Antonio, Texas, (1993), 943-948.
- [6] A. Astolfi: Discontinuous control of nonholonomic systems. Systems and Control Letters, 27 (1996), 37-45.
- [7] F. Mnif and A. S. Al-Yahmadi: Recursive backstepping stabilization of a wheeled mobile robot. Proc. of the Imech. Part I, J. of Systems and Control Engineering, 219(6), (2006), 419-429.
- [8] Y. Q. Wu, Y. Zhao and J. B. Yu: Global asymptotic stability controller for uncertain nonholonomic systems. J. of the Franklin Institute, 350(5), (2013), 1248-1263.
- [9] E. Fridman: Introduction to Time-Delay Systems. Birkh¨auser, Springer, 2014.
- [10] P. Hokayem and M. Spong: Bilateral teleoperation: An historical survey. Automatica, 42 (2006), 2035-2057.
- [11] N. Chopra: Control of robotic manipulators under time varying sensing-control delays. Proc. of the IEEE, Int. Conf. on Robotics and Automation, (2010), 1768-1773.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-6ce8d6dd-4d24-4036-9f82-ea882715c28e