Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: &nbsp;An FAS Approach

Zhongcai Zhang; Guangren Duan

doi:10.1109/JAS.2023.124098

Volume 11 Issue 5

May 2024

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2024 > 11(5): 1262-1273

Z. Zhang and G. Duan, “Stabilization controller of an extended chained nonholonomic system with disturbance: An FAS approach,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 5, pp. 1262–1273, May 2024. doi: 10.1109/JAS.2023.124098

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Z. Zhang and G. Duan, “Stabilization controller of an extended chained nonholonomic system with disturbance: An FAS approach,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 5, pp. 1262–1273, May 2024. doi: 10.1109/JAS.2023.124098

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Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach

doi: 10.1109/JAS.2023.124098

Zhongcai Zhang^,,
Guangren Duan^{,
,}

Funds: This work was partially supported by the National Natural Science Foundation of China (62173207, 62073187), the Science Center Program of the National Natural Science Foundation of China (62188101), the China Postdoctoral Science Special Foundation (2023T160334), and the Youth Innovation Team Project of Colleges and Universities in Shandong Province (2022KJ176)

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Author Bio:
Zhongcai Zhang (Member, IEEE) received the M.S. degree in operations research and cybernetics from Qufu Normal University in 2013, and the Ph.D. degree in control science and engineering from Southeast University in 2016.From December 2022 to February 2023, he was a Visiting Associate Professor with the Department of Electrical and Electronic Engineering, Southern University of Science and Technology. He is currently a Professor with the School of Engineering, Qufu Normal University. He servers as an Editor of International Journal of Robotics and Control Systems. His current research interests include nonlinear system control, nonholonomic system control, underactuated system control, and robot applications

Guangren Duan (Fellow, IEEE) received the Ph.D. degree in control systems sciences from the Harbin Institute of Technology in 1989.After a two-year postdoctoral experience with the Harbin Institute of Technology, he became a Professor of control systems theory in 1991. He is the Founder and the Honorary Director of the Center for Control Theory and Guidance Technology, Harbin Institute of Technology, and recently, he is also in charge of the Center for Control Science and Technology, Southern University of Science and Technology. He visited the University of Hull, U.K.; The University of Sheffield, U.K.; and also the Queen’s University of Belfast, U.K., from December 1996 to October 2002. He has authored and coauthored five books and over 450 SCI-indexed publications. His main research interests include parametric control systems design, nonlinear systems, descriptor systems, and spacecraft control.Dr. Duan has served as a Member of the Science and Technology Committee of the Chinese Ministry of Education, the Vice President of the Control Theory and Applications Committee, Chinese Association of Automation (CAA), and the Associate Editor for a few international journals. He is currently an Academician of the Chinese Academy of Sciences and a Fellow of CAA and IET
Corresponding author: Guangren Duan, e-mail: g.r.duan@hit.edu.cn
Received Date: 2023-09-25
Accepted Date: 2023-10-25

Available Online: 2024-03-01

Abstract

Abstract

This study examines the stabilization issue of extended chained nonholonomic systems (ECNSs) with external disturbance. Unlike the existing approaches, we transform the considered system into a fully actuated system (FAS) model, simplifying the stabilizing controller design. We implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer (FTDO) for the two system inputs. In addition, we discuss the specifics of global stabilization control design. Our approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy, while all other system states converge to zero within a finite time.
- Disturbance observer,
- exponential stabilization,
- finite-time stabilization,
- fully actuated systems,
- nonholonomic systems

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References(50)

References

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The ECNS is equivalently converted into an FAS model through state transformations
The obtained linear FAS model significantly reduces the design complexity
A switching stabilizing control strategy is proposed based on an FTDO

Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance: An FAS Approach

doi: 10.1109/JAS.2023.124098

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通讯作者: 陈斌, bchen63@163.com

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