Finite-time stabilisation for a class of output-constrained nonholonomic systems with its application

ABSTRACT

This paper studies the problem of finite-time stabilisation for a class of uncertain nonholonomic systems in chained form with output constraint. A nonlinear mapping is first introduced to transform the output-constrained system into a new unconstrained one. Then, by employing the adding a power integrator technique and switching control strategy, a state feedback controller is successfully constructed to render that the states of closed-loop system converge to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of finite-time parking a unicycle-type mobile robot is tackled. Simulation results are given to demonstrate the effectiveness of the proposed method.

Keywords:

• Nonholonomic systems
• output constraint
• nonlinear mapping
• finite-time stabilisation

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by National Nature Science Foundation of China [grant numbers 61673243, 61703232, 61473265, 51675259]; the Project of Taishan Scholar of Shandong Province of China [grant number TS20120529]; the PhD Program Foundation of Ministry of Education of China [grant number 20123705110002]; the National Nature Science Foundation of Shandong Province [grant number ZR2017QF013] and the High-level Talent Initial Funding of Nanjing Institute of Technology.

Notes on contributors

Fangzheng Gao

Fangzheng Gao received the BSc degree in Information and Computing Science in 2004 and the MSc degree in Operational Research and Cybernetics in 2007, both from Zhengzhou University, Zhengzhou, China, received his PhD degree in Automatic Control from Southeast University, Nanjing, China, in 2017. He is currently an associate professor in the School of Automation, Nanjing Institute of Technology, China. His research interests include nonlinear system control, robust adaptive control, robot dynamic and control.

Yuqiang Wu

Yuqiang Wu received his PhD degree in Automatic Control from Southeast University, Nanjing, China, in 1994. Currently, he is a professor in the Institute of Automation, Qufu Normal University, China. His research interests include variable structure control and nonlinear system control.

Hongsheng Li

Hongsheng Li received his PhD degree in Automatic Control from Southeast University, Nanjing, China, in 2005. Currently, he is a professor in the School of Automation, Nanjing Institute of Technology, China. His research interests include CNC technology, high-performance servo drive, robot control and intelligent control.

Yanhong Liu

Yanhong Liu received her PhD degree in Automatic Control from Tsinghua University, Bejing, China, in 2006. Currently, she is a professor in the School of Electrical Engineering, Zhengzhou University, China. Her research interests include nonlinear system control, robust adaptive control, robot dynamic and control.