| Title:
|
Adaptive control of uncertain nonholonomic systems in finite time (English) |
| Author:
|
Wang, Jiankui |
| Author:
|
Zhang, Guoshan |
| Author:
|
Li, Hongyi |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 |
| Volume:
|
45 |
| Issue:
|
5 |
| Year:
|
2009 |
| Pages:
|
809-824 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed controller. (English) |
| Keyword:
|
finite-time convergence |
| Keyword:
|
parameter uncertainty |
| Keyword:
|
adaptive control |
| Keyword:
|
nonholonomic systems |
| MSC:
|
34H05 |
| MSC:
|
93B40 |
| MSC:
|
93C15 |
| MSC:
|
93C40 |
| MSC:
|
93C41 |
| MSC:
|
93D15 |
| MSC:
|
93D21 |
| idZBL:
|
Zbl 1190.93086 |
| idMR:
|
MR2599114 |
| . |
| Date available:
|
2010-06-02T19:16:25Z |
| Last updated:
|
2012-06-06 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/140039 |
| . |
| Reference:
|
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| Reference:
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| . |
