Title

Smooth Time-Varying Pure Feedback Control For Chained Non-Holonomic Systems With Exponential Convergent Rate

Abstract

The feedback stabilisation problem of non-holonomic chained systems and a novel feedback design scheme is proposed, which renders a smooth, time-varying, aperiodic, pure feedback control with exponential convergence rates. There are three main advantages with the proposed design. (i) In general, time-varying designs are mostly periodic and render asymptotic stability, whereas the proposed approach is aperiodic and have exponential convergent rates. (ii) A novel state scaling transformation is proposed. It shows that even though u 1 vanishes in regulation problems, intrinsic controllability of chained systems can be regained by judiciously designing the input u1 and by applying the state scaling transformations. (iii) A class of memory functions is introduced into the control design, the controller dependency on the system's initial conditions in our previous work is removed and the control is a pure feedback. Moreover, the design is shown to be inversely optimal. Simulations and comparisons are conducted to verify the effectiveness of the proposed approach. © 2010 The Institution of Engineering and Technology.

Publication Date

7-1-2010

Publication Title

IET Control Theory and Applications

Volume

4

Issue

7

Number of Pages

1235-1244

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1049/iet-cta.2008.0413

Socpus ID

77954576904 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/77954576904

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