Stability and Structure of Nonholonomic Systems

2015 ◽  
pp. 411-465
Author(s):  
Anthony M. Bloch
Keyword(s):  
Nonholonomic Systems

Adaptive state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay and perturbations

2020 ◽  
pp. 014233122097417
Author(s):  
Qinghui Du
Keyword(s):  
State Feedback ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Feedback Controller ◽  
Input State ◽  
Time Varying ◽  
Initial State ◽  
State Feedback Controller ◽  
Time Varying Delay ◽  
Varying Delay

The problem of adaptive state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay and perturbations is studied in this paper. Without imposing any assumptions on the time-varying delay, an adaptive state-feedback controller is skillfully designed by using the input-state scaling technique and an adaptive backstepping control approach. Then, by adopting the switching strategy to eliminate the phenomenon of uncontrollability, the proposed adaptive state-feedback controller can guarantee that the closed-loop system has an almost surely unique solution for any initial state, and the equilibrium of interest is globally asymptotically stable in probability. Finally, the simulation example shows the effectiveness of the proposed scheme.

Lagrange equation of another class of nonholonomic systems

1991 ◽  
Vol 12 (8) ◽  
pp. 727-732
Author(s):  
Gao Pu-yun ◽  
Guo Zhong-heng
Keyword(s):  
Lagrange Equation ◽  
Nonholonomic Systems

Adaptive Feedback Control of Nonholonomic Systems with Uncertainties

2014 ◽  
Vol 971-973 ◽  
pp. 337-340
Author(s):  
Gui Ling Ju ◽  
Wei Hai Sun ◽  
Jian Du ◽  
Yun Chang Hang
Keyword(s):  
Feedback Control ◽  
Nonholonomic Systems ◽  
The State ◽  
Output Measurement ◽  
Adaptive Feedback ◽  
Adaptive Feedback Control ◽  
Strongly Nonlinear ◽  
Output Feedback Controller ◽  
Nonlinear Uncertainties ◽  
Switching Control Strategy

This paper deals with the adaptive feedback control for the nonholonomic systems with strongly nonlinear uncertainties. The state-input scaling technique and back-stepping approach are used to design the output feedback controller. In order to make the state scaling effective, a new switching control strategy based on the output measurement of the first subsystem is employed.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

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