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A time-scale transformation approach to prescribed-time stabilisation of non-holonomic systems with inputs quantisation

Author

Listed:
  • Fangzheng Gao
  • Jiacai Huang
  • Yuqiang Wu
  • Xianlin Zhao

Abstract

This article addresses the problem of global stabilisation using state feedback for a kind of uncertain non-holonomic systems in chained form. Two distinct characteristics of this study are that the considered system suffers from the input-quantised actuator, and the system states are expected to converge to zero in prescribed finite time. To address these, a time-scale transformation, that can change the original stabilisation into the finite-time stabilisation of the transformed one, is first introduced. Then, under the new framework of equivalent transformation, a quantised state feedback controller that achieves of the performance requirements is developed with the aid of the recursive technique. Finally, simulation results of a unicycle-type mobile robot are provided to confirm the efficacy of the proposed approach.

Suggested Citation

  • Fangzheng Gao & Jiacai Huang & Yuqiang Wu & Xianlin Zhao, 2022. "A time-scale transformation approach to prescribed-time stabilisation of non-holonomic systems with inputs quantisation," International Journal of Systems Science, Taylor & Francis Journals, vol. 53(8), pages 1796-1808, June.
    • Handle: RePEc:taf:tsysxx:v:53:y:2022:i:8:p:1796-1808
    DOI: 10.1080/00207721.2021.2024296
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