Saturated Control of Chained Nonholonomic Systems
Abbreviated Journal Title
Eur. J. Control
Nonholonomic systems; chained form; feedback control; saturated control; BOUNDED CONTROLS; EXPONENTIAL STABILIZATION; GLOBAL STABILIZATION; LINEAR-SYSTEMS; MULTIPLE INTEGRATORS; CONTROL DESIGN; FORM SYSTEMS; FEEDBACK; TRACKING; Automation & Control Systems
Plenty of approaches to stabilize chained nonholonomic systems have been proposed in the literature. However, the stabilization with constrained inputs is seldom addressed. This problem has practical importance since all physical nonholonomic systems have actuator limitations. In this article, a novel switching control design is proposed. The design strategy is inspired by the structural similarity between chained nonholonomic systems and multiple-integrator systems. The key idea is to make u(1) to be piecewise constant, which renders the rest of the states a chain of constant weighted integrators. Moreovei; since the saturation control to eventually works in a linear region with fixed eigenvalues, a buffer zone for x(1) is introduced to ensure the convergence of the rest of the states. The effectiveness of the proposed design is verified by computer simulations.
European Journal of Control
"Saturated Control of Chained Nonholonomic Systems" (2011). Faculty Bibliography 2010s. 2156.