IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v12y2023i1p59-d1306645.html
   My bibliography  Save this article

Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach

Author

Listed:
  • Zhongcai Zhang

    (School of Artificial Intelligence, Nankai University, Tianjin 300350, China
    School of Engineering, Qufu Normal University, Rizhao 276826, China)

  • Xueli Hu

    (School of Engineering, Qufu Normal University, Rizhao 276826, China)

  • Yang Gao

    (School of Engineering, Qufu Normal University, Rizhao 276826, China)

  • Xiaodan Hou

    (Center of Brain Science Research, Qufu Normal University, Rizhao 276826, China)

Abstract

In this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction of state scaling, the barrier Lyapunov function (BLF), the integrator backstepping method, and the tuning function approach. In addition, a discontinuous switching control strategy is proposed to achieve the control goal if the first system state’s initial state is confined to zero. In both stabilization and adaptive stabilization control, the system states can be regulated at the origin, and meanwhile, the full-state constraints are realized. Finally, it is shown that the simulation results are consistent with the theory analysis results, which further demonstrates the effectiveness of the proposed control schemes.

Suggested Citation

  • Zhongcai Zhang & Xueli Hu & Yang Gao & Xiaodan Hou, 2023. "Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach," Mathematics, MDPI, vol. 12(1), pages 1-19, December.
    • Handle: RePEc:gam:jmathe:v:12:y:2023:i:1:p:59-:d:1306645
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/12/1/59/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/12/1/59/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Lixiong Lin & Zhiping Xu & Jiachun Zheng, 2023. "Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots," Mathematics, MDPI, vol. 11(12), pages 1-21, June.
    2. Zhang, Jing & Xia, Jianwei & Sun, Wei & Zhuang, Guangming & Wang, Zhen, 2018. "Finite-time tracking control for stochastic nonlinear systems with full state constraints," Applied Mathematics and Computation, Elsevier, vol. 338(C), pages 207-220.
    3. Ben Niu & Jun Zhao, 2013. "Tracking control for output-constrained nonlinear switched systems with a barrier Lyapunov function," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(5), pages 978-985.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Liu, Yu-An & Tang, Shengdao & Liu, Yufan & Kong, Qingkai & Wang, Jing, 2021. "Extended dissipative sliding mode control for nonlinear networked control systems via event-triggered mechanism with random uncertain measurement," Applied Mathematics and Computation, Elsevier, vol. 396(C).
    2. Penghui Sun & Xi Wang & Shubo Yang & Bei Yang & Huairong Chen & Bin Wang, 2021. "Bumpless Transfer of Uncertain Switched System and Its Application to Turbofan Engines," Energies, MDPI, vol. 14(16), pages 1-21, August.
    3. Yao, Hejun & Gao, Fangzheng & Huang, Jiacai & Wu, Yuqiang, 2021. "Global prescribed-time stabilization via time-scale transformation for switched nonlinear systems subject to switching rational powers," Applied Mathematics and Computation, Elsevier, vol. 393(C).
    4. Fang, Liandi & Ma, Li & Ding, Shihong & Zhao, Dean, 2019. "Finite-time stabilization for a class of high-order stochastic nonlinear systems with an output constraint," Applied Mathematics and Computation, Elsevier, vol. 358(C), pages 63-79.
    5. Wang, Dongji & Chen, Fei & Meng, Bo & Hu, Xingliu & Wang, Jing, 2021. "Event-based secure H∞ load frequency control for delayed power systems subject to deception attacks," Applied Mathematics and Computation, Elsevier, vol. 394(C).
    6. Min, Huifang & Xu, Shengyuan & Yu, Xin & Fei, Shumin & Cui, Guozeng, 2020. "Adaptive Tracking Control for Stochastic Nonlinear Systems with Full-State Constraints and Unknown Covariance Noise," Applied Mathematics and Computation, Elsevier, vol. 385(C).
    7. Li, Huijuan & Li, Wuquan & Gu, Jianzhong, 2022. "Decentralized stabilization of large-scale stochastic nonlinear systems with time-varying powers," Applied Mathematics and Computation, Elsevier, vol. 418(C).
    8. Runze Chen & Zhenling Wang & Weiwei Che, 2022. "Adaptive Sliding Mode Attitude-Tracking Control of Spacecraft with Prescribed Time Performance," Mathematics, MDPI, vol. 10(3), pages 1-18, January.
    9. Yang, Yi & Chen, Fei & Lang, Jiahong & Chen, Xiangyong & Wang, Jing, 2021. "Sliding mode control of persistent dwell-time switched systems with random data dropouts," Applied Mathematics and Computation, Elsevier, vol. 400(C).
    10. Yunong Zhang & Yinyan Zhang & Dechao Chen & Zhengli Xiao & Xiaogang Yan, 2017. "Division by zero, pseudo-division by zero, Zhang dynamics method and Zhang-gradient method about control singularity conquering," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(1), pages 1-12, January.
    11. Yingxue Hou & Shaocheng Tong & Yongming Li, 2016. "Adaptive fuzzy backstepping control for a class of switched nonlinear systems with actuator faults," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(15), pages 3581-3590, November.
    12. Huang, Zhengguo & Xia, Jianwei & Wang, Jing & Wei, Yunliang & Wang, Zhen & Wang, Jian, 2019. "Mixed H∞/l2−l∞ state estimation for switched genetic regulatory networks subject to packet dropouts: A persistent dwell-time switching mechanism," Applied Mathematics and Computation, Elsevier, vol. 355(C), pages 198-212.
    13. Wang, Xuelian & Xia, Jianwei & Wang, Jing & Wang, Jian & Wang, Zhen, 2019. "Passive state estimation for fuzzy jumping neural networks with fading channels based on the hidden Markov model," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 535(C).
    14. Dai, Mingcheng & Huang, Zhengguo & Xia, Jianwei & Meng, Bo & Wang, Jian & Shen, Hao, 2019. "Non-fragile extended dissipativity-based state feedback control for 2-D Markov jump delayed systems," Applied Mathematics and Computation, Elsevier, vol. 362(C), pages 1-1.
    15. Qi, Wenhai & Zong, Guangdeng & Cheng, Jun & Jiao, Ticao, 2019. "Robust finite-time stabilization for positive delayed semi-Markovian switching systems," Applied Mathematics and Computation, Elsevier, vol. 351(C), pages 139-152.
    16. He, Miao & Rong, Taotao & Li, Junmin & He, Chao, 2021. "Adaptive dynamic surface full state constraints control for stochastic Markov jump systems based on event-triggered strategy," Applied Mathematics and Computation, Elsevier, vol. 392(C).
    17. Yongming Li & Shaocheng Tong, 2016. "Adaptive fuzzy switched control design for uncertain nonholonomic systems with input nonsmooth constraint," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(14), pages 3436-3446, October.
    18. Liang, Xingyue & Xia, Jianwei & Chen, Guoliang & Zhang, Huasheng & Wang, Zhen, 2019. "Dissipativity-based sampled-data control for fuzzy Markovian jump systems," Applied Mathematics and Computation, Elsevier, vol. 361(C), pages 552-564.
    19. Wang, Zhichuang & Chen, Guoliang & Ba, Hezhen, 2019. "Stability analysis of nonlinear switched systems with sampled-data controllers," Applied Mathematics and Computation, Elsevier, vol. 357(C), pages 297-309.
    20. Qiang Yu & Baowei Wu, 2015. "Robust stability analysis of uncertain switched linear systems with unstable subsystems," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(7), pages 1278-1287, May.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:12:y:2023:i:1:p:59-:d:1306645. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.