Finite-time stabilization for a class of nonholonomic feedforward systems subject to inputs saturation
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- 作者：Fangzheng Gaoa ; d ; e ; gaofz@126.com" class="auth_mail" title="E-mail the corresponding author ; Ye Yuanb ; Yuqiang Wuc
- 关键词：Nonholonomic feedforward systems ; Inputs saturation ; Homogeneous domination approach ; Nested saturation ; Finite-time stabilization
- 刊名：ISA Transactions
- 出版年：2016
- 出版时间：September 2016
- 年：2016
- 卷：64
- 期：Complete
- 页码：193-201
- 全文大小：486 K
文摘
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A general model of nonlinear feedforward systems subject to nonholonomic constraints is introduced in this paper.
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A weaker sufficient condition on characterizing the nonlinear growth of the nonholonomic systems for its saturated finite-time stabilization is derived.
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A new systematic saturated state feedback control design procedure is proposed to solve the finite-time stabilization problem for all plants in the considered class.
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An application example for vertical wheel on rotating table is modeled and solved by the proposed method.