Finite-time Stabilization for Nonholonomic Chained Form Systems with Communication Delay
نویسندگان
چکیده
منابع مشابه
Finite-time Stabilization for Nonholonomic Chained Form Systems
In this paper, the problem of finite-time stabilization is developed for nonholonomic chained form systems with communication delay in the input. The finite-time control laws are presented by utilizing the switching control strategy and the theory of finite-time stability, which can make the states of the nonholonomic chained form systems to converge from any non-equilibrium state to the equili...
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In this paper, a discontinuous state-feedback law is proposed for the stabilization of nonholonomic systems in power form. The feedback law is based on a receding-horizon strategy in which the open-loop optimization problem is a minimum-time steering process. Suboptimal formulations are used explicitly to meet the real-time implementability requirements. Stability is established in a sampleddat...
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ژورنال
عنوان ژورنال: Journal of Robotics, Networking and Artificial Life
سال: 2014
ISSN: 2352-6386
DOI: 10.2991/jrnal.2014.1.1.8