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A Class of Predefined-Time Stabilizing Controllers for Nonholonomic Systems

Abstract : The design of a class of predefined-time stabilizing controller for a class uncertain nonholonomic systems in chained form is investigated in this paper. First, some modifications to the classical fixed-time algorithms for first and second order systems are introduced. These modified algorithms, which are developed under the concept of predefined-time stability, reduce the settling time overestimation drawback suffered by the classical fixed-time algorithm. Unlike current finite-time and fixed-time schemes, an upper bound of the settling time is easily tunable through a simple selection of the parameters of the controllers. Then, based on the developed first and second-order algorithms, a switching control strategy is designed to guarantee the predefined-time stability of the chained-form nonholonomic system. Finally, a simulation example is presented to show the effectiveness of the proposed method.
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https://hal-uphf.archives-ouvertes.fr/hal-03455294
Contributor : Frédéric Pruvost Connect in order to contact the contributor
Submitted on : Monday, November 29, 2021 - 3:48:56 PM
Last modification on : Thursday, May 19, 2022 - 3:16:07 PM

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  • HAL Id : hal-03455294, version 1

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Esteban Jiménez-Rodríguez, Juan Diego Sanchez-Torres, Aldo-Jonathan Muñoz-Vázquez, Michael Defoort, Alexander Loukianov. A Class of Predefined-Time Stabilizing Controllers for Nonholonomic Systems. 27th Mediterranean Conference on Control and Automation, MED 2019, Institute of Electrical and Electronics Engineers (IEEE), Jul 2019, Saint Jean d'Acre, Israel. pp.464-471. ⟨hal-03455294⟩

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