Stabilizing the second-order nonholonomic systems with chained form by   finite-time stabilizing controllers

doi:10.1017/S0263574714002951

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	Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers
	He, Guangping ; Zhang, Chenghao ; Sun, Wei ; Geng, Zhiyong
刊名	ROBOTICA
	2016
关键词	Underactuation Nonholonomic constraints Global stability Finite-time Control EXPONENTIAL STABILIZATION NONLINEAR-SYSTEMS UNDERACTUATED MANIPULATOR HOMOGENEOUS FEEDBACK APPROXIMATIONS NILPOTENT
DOI	10.1017/S0263574714002951
英文摘要	An underactuated mechanical system is generally a good test bed for advanced nonlinear controllers and can be applied to design a novel mechanical system with better energy efficiency and good controllability. It has been shown that the dynamics of many underactuated mechanical systems could be transformed into the chained canonical form. To improve the performance of the controllers presented in the literature, a novel controller design method is proposed in this paper. It is shown that the set-point stabilization problem of the second-order chained form systems can be changed into a trajectory-tracking problem based on the nonsmooth Holder continuous feedback. By designing the tracked trajectory, the presented controller permits the achievement of exponential stability. Some numerical simulations demonstrate the stability of the proposed controller for an underactuated Hovercraft system.; Nature Science Foundation of China [51305005, 51375016]; Beijing Nature Science Foundation [3152009]; SCI(E); EI; ARTICLE; hegp55@126.com; 10; 2344-2367; 34
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/449996]
专题	工学院
推荐引用方式 GB/T 7714	He, Guangping,Zhang, Chenghao,Sun, Wei,et al. Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers[J]. ROBOTICA,2016.
APA	He, Guangping,Zhang, Chenghao,Sun, Wei,&Geng, Zhiyong.(2016).Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers.ROBOTICA.
MLA	He, Guangping,et al."Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers".ROBOTICA (2016).