Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances
This paper addresses the fixed-time stability analysis of a mobile unicycle-like system (UTMS) with chained shape dynamics (CFD) and subjected to unknown matched uncertainties. To achieve fixed-time stabilization of a nonholonomic (NS) system in CFD, an adaptive nonsingular fast terminal sliding mod...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/11/10/2287 |
| _version_ | 1797599264168214528 |
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| author | Moussa Labbadi Sahbi Boubaker Souad Kamel Faisal S. Alsubaei |
| author_facet | Moussa Labbadi Sahbi Boubaker Souad Kamel Faisal S. Alsubaei |
| author_sort | Moussa Labbadi |
| collection | DOAJ |
| description | This paper addresses the fixed-time stability analysis of a mobile unicycle-like system (UTMS) with chained shape dynamics (CFD) and subjected to unknown matched uncertainties. To achieve fixed-time stabilization of a nonholonomic (NS) system in CFD, an adaptive nonsingular fast terminal sliding mode control scheme (ANFTSMC) is proposed. To determine the upper bounds of the disturbances, only velocity and position measurements are required. In addition, the control rule uses the Lyapunov theory, which guarantees the stability of the closed-loop system. To emphasize/evaluate the efficacy of the proposed method, simulations are performed in different disturbance situations. |
| first_indexed | 2024-03-11T03:31:44Z |
| format | Article |
| id | doaj.art-db7a0265870a4d779c1033dfbaeb29e7 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-11T03:31:44Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-db7a0265870a4d779c1033dfbaeb29e72023-11-18T02:18:43ZengMDPI AGMathematics2227-73902023-05-011110228710.3390/math11102287Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with DisturbancesMoussa Labbadi0Sahbi Boubaker1Souad Kamel2Faisal S. Alsubaei3Grenoble Alpes University, CNRS, Grenoble INP, GIPSA-Lab, 38000 Grenoble, FranceDepartment of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi ArabiaDepartment of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi ArabiaDepartment of Cybersecurity, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi ArabiaThis paper addresses the fixed-time stability analysis of a mobile unicycle-like system (UTMS) with chained shape dynamics (CFD) and subjected to unknown matched uncertainties. To achieve fixed-time stabilization of a nonholonomic (NS) system in CFD, an adaptive nonsingular fast terminal sliding mode control scheme (ANFTSMC) is proposed. To determine the upper bounds of the disturbances, only velocity and position measurements are required. In addition, the control rule uses the Lyapunov theory, which guarantees the stability of the closed-loop system. To emphasize/evaluate the efficacy of the proposed method, simulations are performed in different disturbance situations.https://www.mdpi.com/2227-7390/11/10/2287nonholonomic systemsfixed-time stabilizationLyapunov methodsadaptive controlANFTSMClogistics |
| spellingShingle | Moussa Labbadi Sahbi Boubaker Souad Kamel Faisal S. Alsubaei Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances Mathematics nonholonomic systems fixed-time stabilization Lyapunov methods adaptive control ANFTSMC logistics |
| title | Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances |
| title_full | Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances |
| title_fullStr | Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances |
| title_full_unstemmed | Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances |
| title_short | Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances |
| title_sort | adaptive finite fixed time control design for a class of nonholonomic systems with disturbances |
| topic | nonholonomic systems fixed-time stabilization Lyapunov methods adaptive control ANFTSMC logistics |
| url | https://www.mdpi.com/2227-7390/11/10/2287 |
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