Bounded Consensus Algorithm for Robust Finite-Time Control of Multiple Nonholonomic Systems

2021 ◽  
pp. 1-1
Author(s):  
Neda Sarrafan ◽  
Jafar Zarei
Keyword(s):  
Finite Time ◽  
Nonholonomic Systems ◽  
Consensus Algorithm ◽  
Time Control

scholarly journals Finite-Time Consensus Algorithm for Multiple Nonholonomic Disturbed Systems with Its Application

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Shang Shi ◽  
Xin Yu ◽  
Guohai Liu
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Nonholonomic Systems ◽  
Consensus Algorithm ◽  
Nonholonomic Mobile Robots ◽  
Terminal Sliding Mode ◽  
Consensus Algorithms ◽  
Disturbed Systems ◽  
Switching Control Strategy

This paper deals with the problem of finite-time consensus of multiple nonholonomic disturbed systems. To accomplish this problem, the multiple nonholonomic systems are transformed into two multiple subsystems, and these two multiple subsystems are studied, respectively. For these two multiple subsystems, the terminal sliding mode (TSM) algorithms are designed, respectively, which achieve the finite-time reaching of sliding surface. Next, a switching control strategy is proposed to guarantee the finite-time consensus of all the states for multiple nonholonomic systems with disturbances. Finally, we demonstrate the effectiveness of the proposed consensus algorithms with application to multiple nonholonomic mobile robots.

scholarly journals Further Result on Finite-Time Stabilization of Stochastic Nonholonomic Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Fangzheng Gao ◽  
Fushun Yuan ◽  
Jian Zhang ◽  
Yuqiang Wu
Keyword(s):  
Finite Time ◽  
Design Method ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Stochastic Disturbance ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Switching Control Strategy ◽  
Power Integrator ◽  
Theoretical Results

This paper further investigates the problem of finite-time state feedback stabilization for a class of stochastic nonholonomic systems in chained form. Compared with the existing literature, the stochastic nonholonomic systems under investigation have more uncertainties, such as thex0-subsystem contains stochastic disturbance. This renders the existing finite-time control methods highly difficult to the control problem of the systems or even inapplicable. In this paper, by extending adding a power integrator design method to a stochastic system and by skillfully constructingC2Lyapunov function, a novel switching control strategy is proposed, which renders that the states of closed-loop system are almost surely regulated to zero in a finite time. A simulation example is provided to demonstrate the effectiveness of the theoretical results.

scholarly journals Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Mobile Robot ◽  
Finite Time ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Finite Time Stability ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Finite Time Stabilization ◽  
System States

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated withx0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.

STABILIZATION OF NONHOLONOMIC SYSTEMS USING HOMOGENEOUS FINITE-TIME CONTROL TECHNIQUE

2002 ◽  
Vol 35 (1) ◽  
pp. 181-186 ◽  
Author(s):  
Hisakazu Nakamura ◽  
Yuh Yamashita ◽  
Hirokazu Nishitani
Keyword(s):  
Finite Time ◽  
Nonholonomic Systems ◽  
Control Technique ◽  
Time Control

Robust adaptive finite-time attitude tracking and synchronization control for multi-spacecraft with actuator saturation

2017 ◽  
Vol 233 (2) ◽  
pp. 629-640 ◽  
Author(s):  
Zhihao Zhu ◽  
Yu Guo
Keyword(s):  
Finite Time ◽  
Actuator Saturation ◽  
Consensus Algorithm ◽  
Synchronization Control ◽  
Time Varying ◽  
Dynamic Adjustment ◽  
Control Approach ◽  
Time Control ◽  
Attitude Tracking ◽  
Robust Adaptive

This paper studies a novel robust adaptive finite-time attitude tracking and synchronization control problem for multi-spacecraft with leader-following architecture, actuator saturation, unknown time-varying inertia and disturbance. Aiming at rejecting the influence of uncertainties and disturbances, an adaptive algorithm is proposed with no prior knowledge of inertia. Meanwhile, based on finite-time control, consensus algorithm and graph theory, a robust adaptive and synchronized attitude tracking control law with a dynamic adjustment function is presented to regulate the attitude to a common time-varying desired state in finite time and improve the dynamic property of system. The effectiveness and performance of the designed control approach are demonstrated through numerical simulation results.

Finite-time control of uncertain time-varying systems in p-normal form

2020 ◽  
Author(s):  
Kanya Rattanamongkhonkun ◽  
Radom Pongvuthithum ◽  
Chulin Likasiri
Keyword(s):  
Normal Form ◽  
Finite Time ◽  
Control Law ◽  
Time Varying ◽  
Time Control ◽  
Special Cases ◽  
Time Varying Systems ◽  
A Chain ◽  
Uncertain Time ◽  
Power Integrator

Abstract This paper addresses a finite-time regulation problem for time-varying nonlinear systems in p-normal form. This class of time-varying systems includes a well-known lower-triangular system and a chain of power integrator systems as special cases. No growth condition on time-varying uncertainties is imposed. The control law can guarantee that all closed-loop trajectories are bounded and well defined. Furthermore, all states converge to zero in finite time.

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