Fixed-time regulation control of uncertain nonholonomic systems and its applications. (English) Zbl 1367.93595
Summary: Stabilization of nonholonomic systems is of great practical importance to the industry. Moreover, fixed-time control is more comfortable than finite-time control since the upper bound of the settling time is independent on the initial system states in a fixed-time control issue and therefore can be estimated in advance. Inspired by the aforementioned two points, we consider the fixed-time stabilization for a kind of uncertain nonholonomic systems subject to perturbations in this paper. A globally fixed-time stabilization strategy is proposed by taking advantage of adding one power integrator technique and switching ideal. Under the designed controllers, all states can be regulated to zero before a fixed time and kept zero afterwards. As an application, the fixed-time stabilization for a class of dynamic nonholonomic systems is also addressed by the combined method of adding one power integrator and terminal sliding-mode control. Three mechanical and academic examples are provided to show the flexibility and effectiveness of the assumptions and control algorithms.
MSC:
| 93D21 | Adaptive or robust stabilization |
| 37J60 | Nonholonomic dynamical systems |
| 93C10 | Nonlinear systems in control theory |
| 93B12 | Variable structure systems |
| 93C15 | Control/observation systems governed by ordinary differential equations |
Keywords:
nonholonomic systems; nonlinear systems; fixed-time stabilization; adding one power integrator; terminal sliding mode (TSM)References:
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