Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach
In this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction of state scaling, the barrier Lyapunov function (BL...
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| Format: | Article |
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MDPI AG
2023-12-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/12/1/59 |
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| author | Zhongcai Zhang Xueli Hu Yang Gao Xiaodan Hou |
| author_facet | Zhongcai Zhang Xueli Hu Yang Gao Xiaodan Hou |
| author_sort | Zhongcai Zhang |
| collection | DOAJ |
| description | In this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction of state scaling, the barrier Lyapunov function (BLF), the integrator backstepping method, and the tuning function approach. In addition, a discontinuous switching control strategy is proposed to achieve the control goal if the first system state’s initial state is confined to zero. In both stabilization and adaptive stabilization control, the system states can be regulated at the origin, and meanwhile, the full-state constraints are realized. Finally, it is shown that the simulation results are consistent with the theory analysis results, which further demonstrates the effectiveness of the proposed control schemes. |
| first_indexed | 2024-03-08T15:02:04Z |
| format | Article |
| id | doaj.art-19cd0455a8364ca398f6521c41d0d4e2 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-08T15:02:04Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-19cd0455a8364ca398f6521c41d0d4e22024-01-10T15:03:27ZengMDPI AGMathematics2227-73902023-12-011215910.3390/math12010059Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous ApproachZhongcai Zhang0Xueli Hu1Yang Gao2Xiaodan Hou3School of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaSchool of Engineering, Qufu Normal University, Rizhao 276826, ChinaSchool of Engineering, Qufu Normal University, Rizhao 276826, ChinaCenter of Brain Science Research, Qufu Normal University, Rizhao 276826, ChinaIn this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction of state scaling, the barrier Lyapunov function (BLF), the integrator backstepping method, and the tuning function approach. In addition, a discontinuous switching control strategy is proposed to achieve the control goal if the first system state’s initial state is confined to zero. In both stabilization and adaptive stabilization control, the system states can be regulated at the origin, and meanwhile, the full-state constraints are realized. Finally, it is shown that the simulation results are consistent with the theory analysis results, which further demonstrates the effectiveness of the proposed control schemes.https://www.mdpi.com/2227-7390/12/1/59nonholonomic control systemsstabilizationadaptive stabilizationfull-state constraintsbarrier Lyapunov function |
| spellingShingle | Zhongcai Zhang Xueli Hu Yang Gao Xiaodan Hou Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach Mathematics nonholonomic control systems stabilization adaptive stabilization full-state constraints barrier Lyapunov function |
| title | Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach |
| title_full | Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach |
| title_fullStr | Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach |
| title_full_unstemmed | Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach |
| title_short | Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach |
| title_sort | robust and adaptive stabilization controllers of state constrained nonholonomic chained systems a discontinuous approach |
| topic | nonholonomic control systems stabilization adaptive stabilization full-state constraints barrier Lyapunov function |
| url | https://www.mdpi.com/2227-7390/12/1/59 |
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