Predictive variable structure control of nonholonomic chained systems

Abstract

A novel variable structure control strategy for a class of second-order nonlinear systems is presented based on the phase-plane analysis and computing prediction. In this strategy control is switched by online prediction of the trajectory behaviour of the closed-loop system; control switching does not occur continuously, so the chattering that occurs in conventional variable structure control methods can be avoided completely. It is proved that the states of the closed-loop system can be stabilized to the origin exponentially and the trajectory of the closed-loop system does not overshoot in general. As an application, the proposed predictive variable structure control strategy is used to stabilize nonholonomic systems in chained form. An example of a wheeled mobile robot is studied and associated simulation results demonstrate the effectiveness of the proposed control strategy.

Keywords:

• Nonlinear system
• Variable structure control
• Computing prediction
• Stabilization
• Nonholonomic system control

AMS Subject Classification: :

• 93C10
• 93D15
• 70Q05

Acknowledgements

This research was supported jointly by the National Science Foundation Key Project of China under Grant No. 60334030, the Research Fund for Doctoral Program of Ministry of Education of China under Grant No. 20050006024, the Foundation of Engineering Research Institute of Peking University under Grant No. 204035 and the Research Foundation for Key Disciplines of Beijing Municipal Commission of Education under Grant No. XK100060422.

Additional information

Notes on contributors

Wei Huo

*Email: [email protected]