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Output‐feedback control strategies of lower‐triangular nonlinear nonholonomic systems in any prescribed finite time
Author(s) -
Chen Xiandong,
Zhang Xianfu
Publication year - 2018
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4413
Subject(s) - control theory (sociology) , nonholonomic system , nonlinear system , observer (physics) , nonlinear control , scaling , output feedback , constant (computer programming) , computer science , mathematics , control (management) , robot , mobile robot , physics , geometry , quantum mechanics , artificial intelligence , programming language
Summary In this paper, output‐feedback control strategies are proposed for lower‐triangular nonlinear nonholonomic systems in any prescribed finite time. Specifically, by employing the input‐state–scaling technique, the controlled systems are firstly converted into lower‐triangular nonlinear systems, which makes it possible to study such systems using the high‐gain technique. Then, by introducing a scaling of the state by a function that grows unbounded toward the terminal time and proposing a high‐gain observer–prescribed finite time recovering the system states, the output‐feedback regulation control problem in any prescribed finite time is firstly achieved for nonlinear nonholonomic systems with unknown constant incremental rate. Moreover, by designing another time‐varying high gain, the output‐feedback stabilization control problem in any prescribed finite time is then achieved for nonlinear nonholonomic systems with a time‐varying incremental rate. Finally, a numerical example is introduced to show the effectiveness of proposed control strategies.