Paper Info
Title
Predefined-Time Stabilisation Of A Class Of Nonholonomic Systems
Abstract
This paper deals with the predefined-time stabilisation problem for a class of uncertain chained-form nonholonomic systems. Based on a novel generalised Lyapunov-like characterisation of predefined-time stability, new predefined-time controllers are introduced for a class of first and second order systems with matched perturbations. Contrary to existing finite-time and fixed-time schemes, an upper bound of the settling time is an easily tuneable control parameter. Then, these results for first and second order systems are used to design a switching strategy, which guarantees the predefined-time stability of the closed-loop system. The switching time and the settling-time can be easily tuned according to the control parameters. A benchmark example is presented to show the effectiveness of the proposed method.
Year
DOI
Venue
2020
10.1080/00207179.2019.1569262
INTERNATIONAL JOURNAL OF CONTROL
Keywords
DocType
Volume
Predefined-time stabilisation, nonholonomic system, Lyapunov methods, chained-form dynamics
Journal
93
Issue
ISSN
Citations 
12
0020-7179
5
PageRank 
References 
Authors
0.51
9
3
Name
Order
Citations
PageRank
Juan Diego Sanchez-Torres15313.70
Michael Defoort243333.97
A.-J. Munoz-Vazquez3429.97