Fixed-Time Stabilization Control of AMVs with Actuator Dead-Zones

2021 ◽  
pp. 3-30
Author(s):  
Ge Guo ◽  
Zhenyu Gao ◽  
Pengfei Zhang
Keyword(s):  
Fixed Time ◽  
Dead Zones ◽  
Stabilization Control

scholarly journals Robust Decentralized Adaptive Neural Control for a Class of Nonaffine Nonlinear Large-Scale Systems with Unknown Dead Zones

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Huanqing Wang ◽  
Qi Zhou ◽  
Xuebo Yang ◽  
Hamid Reza Karimi
Keyword(s):  
Neural Control ◽  
Large Scale ◽  
Controller Design ◽  
Dead Zone ◽  
Design Procedure ◽  
Rbf Neural Networks ◽  
Large Scale Systems ◽  
Dead Zones ◽  
Stabilization Control ◽  
Control Scheme

The problem of robust decentralized adaptive neural stabilization control is investigated for a class of nonaffine nonlinear interconnected large-scale systems with unknown dead zones. In the controller design procedure, radical basis function (RBF) neural networks are applied to approximate packaged unknown nonlinearities and then an adaptive neural decentralized controller is systematically derived without requiring any information on the boundedness of dead zone parameters (slopes and break points). It is proven that the developed control scheme can ensure that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded in the sense of mean square. Simulation study is provided to further demonstrate the effectiveness of the developed control scheme.

Robust fixed-time attitude stabilization control of flexible spacecraft with actuator uncertainty

2020 ◽  
Vol 100 (3) ◽  
pp. 2505-2519 ◽  
Author(s):  
Lu Cao ◽  
Bing Xiao ◽  
Mehdi Golestani
Keyword(s):  
Fixed Time ◽  
Flexible Spacecraft ◽  
Attitude Stabilization ◽  
Stabilization Control

scholarly journals Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Pengfei Zhang ◽  
Qiyuan Chen ◽  
Tingting Yang
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Dead Zone ◽  
Fixed Time ◽  
Reference Trajectory ◽  
Ground Vehicles ◽  
Trajectory Tracking Control ◽  
Dead Zones ◽  
Autonomous Ground Vehicles

This paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state transformation, the AGV is proved to realize trajectory tracking control under the premise of eliminating guidance deviation. Second, a fixed time dead zone compensation control method is introduced to ensure the yaw angle tracking of the presented guidance. Furthermore, an improved fixed-time disturbance observer is proposed to compensate for the influence of the actuator dead zone on disturbance observation. Finally, the trajectory tracking control strategy is designed, and simulation comparison shows the effectiveness of the compensate method. The CarSim–MATLAB cosimulation shows that the proposed control strategy effectively makes the AGV follow the reference trajectory.

Fixed-time stabilization control for port-Hamiltonian systems

2019 ◽  
Vol 96 (2) ◽  
pp. 1497-1509 ◽  
Author(s):  
Xinggui Liu ◽  
Xiaofeng Liao
Keyword(s):  
Hamiltonian Systems ◽  
Fixed Time ◽  
Stabilization Control

scholarly journals Global Fixed-Time Stabilization for Chained Nonholonomic Systems via Output Feedback Control

2021 ◽  
Author(s):  
Xiandong Chen ◽  
Xianfu Zhang
Keyword(s):  
Output Feedback ◽  
Initial Conditions ◽  
Nonholonomic Systems ◽  
Fixed Time ◽  
Switching Control ◽  
Feedback Stabilization ◽  
Switching Law ◽  
Stabilizing Controllers ◽  
Output Feedback Stabilization ◽  
Stabilization Control

Abstract This paper studies the fixed-time output feedback stabilization control problem for chained nonholonomic systems. By means of switching control and $bi$-limit homogeneous techniques, it is firstly constructed two fixed-time state feedback stabilizing controllers for the considered systems. Then, a new state observer with a formalized switching law is proposed to fixed-time estimate system states, where high-order terms are applied to get uniform convergence regardless of initial conditions and low-order terms are aimed to the exact convergence in finite time. Finally, based on $bi$-limit homogeneous technique and Lyapunov stability theorem, fixed-time output feedback stabilizing controllers, one of which is discontinuous with a specific switching control law and the other is continuous, are constructed and the fixed-time output feedback stabilization of the considered systems is thus guaranteed. An example is presented to show the feasibility of the proposed fixed-time output feedback stabilization control strategy.

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