Predictor-based stabilization for chained form systems with input time delay

• Autorzy: Mnif F.

Identyfikatory

DOI

10.1515/acsc-2016-0028

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

σ-process transformation; chained form systems; mobile robots; exponential stabilization; time delay system

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2016
• Tom: Vol. 26, no. 4
• Strony: 515--525
• Opis fizyczny: Bibliogr. 11 poz., wykr., wzory

Twórcy

autor

Mnif F.

• Department of Electrical and Computer Engineering, Sultan Qaboos University, P.O. Box 33, Muscat, Oman, Saudi Arabia

Bibliografia

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• [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.
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