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| Adaptive Finite-time Stabilization of Nonholonomic Systems with Nonlinear Parameterization， 2010 Chinese Control and Decision Conference |
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1. Adaptive finite-time stabilization of nonholonomic systems with nonlinear parameterization Fangzheng Gao (Sch. of Math. & Stat., Anyang Normal Univ., Anyang, China); Fushun Yuan; Hejun Yao Source: 2010 Chinese Control and Decision Conference (CCDC), p 2132-7, 2010 Database: Inspec Abstract - Detailed - - Ingenta - Inspec已經(jīng)收錄，估計(jì)很快就會(huì)被EI的。 |
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Accession number: 20103213140203 Title: Adaptive finite-time stabilization of nonholonomic systems with nonlinear parameterization Authors: Gao, Fangzheng1 ; Yuan, Fushun1 ; Yao, Hejun1 Author affiliation: 1 School of Mathematical and Statistics, Anyang Normal University, Anyang 455000, China Corresponding author: Gao, F. (gaofz@126.com) Source title: 2010 Chinese Control and Decision Conference, CCDC 2010 Abbreviated source title: Chin. Control Decis. Conf., CCDC Monograph title: 2010 Chinese Control and Decision Conference, CCDC 2010 Issue date: 2010 Publication year: 2010 Pages: 2132-2137 Article number: 5498880 Language: English ISBN-13: 9781424451821 Document type: Conference article (CA) Conference name: 2010 Chinese Control and Decision Conference, CCDC 2010 Conference date: May 26, 2010 - May 28, 2010 Conference location: Xuzhou, China Conference code: 81319 Sponsor: IEEE Control Systems Society (CSS); IEEE Industrial Electronics Society (IES); Automatic Control Society of Chinese Association of Aeronautics; Simul. Methods Model. Soc. Chin. Assoc. Syst. Simul.; Intelligent Control Manage. Soc., Chin. Assoc. Artif. Intell. Publisher: IEEE Computer Society, 445 Hoes Lane - P.O.Box 1331, Piscataway, NJ 08855-1331, United States Abstract: In this paper, adaptive finite-time control is presented for a class of uncertain nonholonomic systems in chained form with nonlinear parameterization. Using parameter separation, state scaling and backstepping, an adaptive finite-time control law is obtained in the form of continuous time-invariant feedback. Both Lyapunov stability and finite time convergence are guaranteed by appropriately choosing the design parameters. An adaptive control based switching strategy is used to overcome the uncontrollability problem associated with X0(0) = 0 . Simulation example demonstrates the effectiveness and the robust features of the proposed controller. ©2010 IEEE. Number of references: 15 Main heading: Adaptive control systems Controlled terms: Backstepping - Feedback - Fuzzy control - Parameterization - State feedback - System stability Uncontrolled terms: Adaptive Control - Continuous time - Design parameters - Finite time stabilization - Finite-time control - Finite-time convergence - Finite-time stability - Lyapunov stability - Nonholonomic systems - Simulation example - Switching strategies Classification code: 723.4 Artificial Intelligence - 731 Automatic Control Principles and Applications - 731.1 Control Systems - 731.4 System Stability - 921 Mathematics - 961 Systems Science DOI: 10.1109/CCDC.2010.5498880 Database: Compendex Compilation and indexing terms, © 2010 Elsevier Inc. |
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