scholarly journals Adaptive Exponential Stabilization for a Class of Stochastic Nonholonomic Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Xiaoyan Qin
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Nonholonomic Systems ◽  
Input State ◽  
Stabilization Problem ◽  
Adaptive Stabilization ◽  
Closed Loop System ◽  
Scaling Technique ◽  
Switching Strategy ◽  
Parameter Separation

This paper investigates the adaptive stabilization problem for a class of stochastic nonholonomic systems with strong drifts. By using input-state-scaling technique, backstepping recursive approach, and a parameter separation technique, we design an adaptive state feedback controller. Based on the switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller can guarantee that the states of closed-loop system are global bounded in probability.

scholarly journals A New Approach to Adaptive Stabilization of Stochastic High-Order Nonholonomic Systems

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
Guangju Li ◽  
Kemei Zhang
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Nonholonomic Systems ◽  
High Order ◽  
Function Technique ◽  
Adaptive Stabilization ◽  
Closed Loop System ◽  
Sign Function ◽  
New Approach ◽  
Asymptotic Stability In Probability

This paper studies the problem of adaptive stabilization for a class of stochastic high-order nonholonomic systems. Under the weaker assumptions, by constructing the appropriate Lyapunov function and combining sign function technique, an adaptive state feedback controller is designed to guarantee global asymptotic stability in probability of the closed-loop system. The effectiveness of the controller is demonstrated by a mechanical system.

CHAOTIC CONTROL AND CHAOTIFICATION USING FUZZY APPROACH

2008 ◽  
Vol 18 (01) ◽  
pp. 263-274
Author(s):  
KUANG-YOW LIAN ◽  
CHENG-SEA HUANG ◽  
WEN-HSIEN FANG ◽  
CHIEN-HSING SU
Keyword(s):  
State Feedback ◽  
Chaotic Systems ◽  
Closed Loop ◽  
Feasible Solution ◽  
Fuzzy Model ◽  
Stabilization Problem ◽  
Unified Approach ◽  
Closed Loop System ◽  
Chaotic Control ◽  
The Stability

In this paper, we propose a fuzzy model-based methodology to deal with various control objectives for discrete-time chaotic systems from a unified viewpoint. With intent to unify the design process, we introduce a new design concept called virtual-desired-variable synthesis. Then, both the chaotic control and chaotification are eventually treated as a stabilization problem. Consequently, the conditions concerning the stability of the closed-loop system are formulated into LMIs. A feasible solution of the LMI problem guarantees the quadratical stability and gives the state feedback gains as well. The well-known Hénon map is used to demonstrate the unified approach.

scholarly journals Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-17
Author(s):  
Yuanyuan Wu ◽  
Zicheng Wang ◽  
Yuqiang Wu ◽  
Qingbo Li
Keyword(s):  
Output Feedback ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Input State ◽  
Adaptive Stabilization ◽  
Closed Loop Systems ◽  
Stabilization Control ◽  
Parameter Separation ◽  
Unknown Time Delays

This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method.

scholarly journals State Feedback Control for Stochastic Feedforward Nonlinear Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-6
Author(s):  
Liang Liu ◽  
Ming Gao
Keyword(s):  
Nonlinear Systems ◽  
State Feedback ◽  
Closed Loop ◽  
Feedback Stabilization ◽  
State Feedback Control ◽  
Asymptotically Stable ◽  
Stabilization Problem ◽  
Closed Loop System ◽  
Globally Asymptotically Stable ◽  
Feedforward Nonlinear Systems

This paper considers the state feedback stabilization problem for a class of stochastic feedforward nonlinear systems. By using the homogeneous domination approach, a state feedback controller is constructed to render the closed-loop system globally asymptotically stable in probability. A simulation example is provided to show the effectiveness of the designed controller.

CHAOTIFYING THE CONTROLLABLE LINEAR SYSTEM VIA SINGLE INPUT STATE FEEDBACK

2006 ◽  
Vol 17 (07) ◽  
pp. 1027-1035
Author(s):  
ZHENG MAO WU ◽  
JUN GUO LU ◽  
JIAN YING XIE ◽  
JIE LI
Keyword(s):  
Linear System ◽  
Chaotic Dynamics ◽  
State Feedback ◽  
Closed Loop ◽  
Loop System ◽  
Input State ◽  
Closed Loop System ◽  
Single Input ◽  
Simulation Results ◽  
System States

An approach for chaotifying a stable controllable linear system via single input state-feedback is presented. The feedback controller designed is a sawtooth function of the system states, which can make the fixed point of the closed-loop system to be a snap-back repeller, thereby yielding chaotic dynamics. Based on the Marotto theorem, it is proven theoretically that the closed-loop system is chaotic in the sense of Li and Yorke. Finally, the simulation results are used to illustrate the effectiveness of the proposed theory.

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.

The Swing Control of Cranes with Variable Rope Length Based on Linear Time Varying System Theory

2012 ◽  
Vol 461 ◽  
pp. 763-767
Author(s):  
Li Fu Wang ◽  
Zhi Kong ◽  
Xin Gang Wang ◽  
Zhao Xia Wu
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Linear Time ◽  
Feedback Stabilization ◽  
Time Varying ◽  
Closed Loop System ◽  
Overhead Cranes ◽  
Time Varying Systems ◽  
Time Invariant ◽  
Time Invariant System

In this paper, following the state-feedback stabilization for time-varying systems proposed by Wolovich, a controller is designed for the overhead cranes with a linearized parameter-varying model. The resulting closed-loop system is equivalent, via a Lyapunov transformation, to a stable time-invariant system of assigned eigenvalues. The simulation results show the validity of this method.

A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators

1987 ◽  
Vol 109 (4) ◽  
pp. 320-327 ◽  
Author(s):  
C. K. Kao ◽  
A. Sinha ◽  
A. K. Mahalanabis
Keyword(s):  
Control Algorithm ◽  
State Feedback ◽  
Closed Loop ◽  
Robot Manipulator ◽  
Minimum Time ◽  
State Feedback Control ◽  
Final States ◽  
Closed Loop System ◽  
Time Control ◽  
Digital Algorithm

A digital state feedback control algorithm has been developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit near-minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm has been established using numerical simulations. A three-link manipulator is chosen for this purpose and the results are discussed for three different combinations of initial and final states.

Global fixed-time stabilization for a class of uncertain high-order nonlinear systems with dead-zone input nonlinearity

2018 ◽  
Vol 41 (7) ◽  
pp. 1888-1895
Author(s):  
Fangzheng Gao ◽  
Yanling Shang ◽  
Yuqiang Wu ◽  
Yanhong Liu
Keyword(s):  
Nonlinear Systems ◽  
State Feedback ◽  
Closed Loop ◽  
Dead Zone ◽  
Fixed Time ◽  
High Order ◽  
Closed Loop System ◽  
Sign Function ◽  
Input Nonlinearity ◽  
Power Integrator

This paper considers the problem of global fixed-time stabilization for a class of uncertain high-order nonlinear systems. One distinct characteristic of this work is that the system under consideration possesses the dead-zone input nonlinearity. By delicately combining the sign function with a power integrator technique, a state feedback controller is designed such that the states of the resulting closed-loop system converge to the origin within a fixed time. A simulation example is provided to illustrate the effectiveness of the proposed approach.

Adaptive Feedback Control of Stochastic Nonholonomic Systems with Uncertainties

2015 ◽  
Vol 727-728 ◽  
pp. 692-696
Author(s):  
Gui Ling Ju ◽  
Wei Hai Sun
Keyword(s):  
Closed Loop ◽  
Nonholonomic System ◽  
Nonholonomic Systems ◽  
The State ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Output Measurement ◽  
Adaptive Feedback ◽  
Adaptive Feedback Control ◽  
Switching Control Strategy

This paper deals with the adaptive control design of stochastic nonholonomic system with uncertainties. The state-input scaling technique, stochastic Lyapunov-like theorem and back-stepping approach are used to design the feedback controller. The controllers guarantee all states of the closed-loop system are largely asymptotically stable in probability, In order to make the state scaling effective, a new switching control strategy based on the output measurement of the first subsystem is employed.

Sign in / Sign up

Export Citation Format

Share Document