Adaptive Finite/Fixed Time Control Design for a Class of Nonholonomic Systems with Disturbances

Moussa Labbadi (), Sahbi Boubaker, Souad Kamel and Faisal S. Alsubaei
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Moussa Labbadi: Grenoble Alpes University, CNRS, Grenoble INP, GIPSA-Lab, 38000 Grenoble, France
Sahbi Boubaker: Department of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia
Souad Kamel: Department of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia
Faisal S. Alsubaei: Department of Cybersecurity, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia

Mathematics, 2023, vol. 11, issue 10, 1-17

Abstract: This paper addresses the fixed-time stability analysis of a mobile unicycle-like system (UTMS) with chained shape dynamics (CFD) and subjected to unknown matched uncertainties. To achieve fixed-time stabilization of a nonholonomic (NS) system in CFD, an adaptive nonsingular fast terminal sliding mode control scheme (ANFTSMC) is proposed. To determine the upper bounds of the disturbances, only velocity and position measurements are required. In addition, the control rule uses the Lyapunov theory, which guarantees the stability of the closed-loop system. To emphasize/evaluate the efficacy of the proposed method, simulations are performed in different disturbance situations.

Keywords: nonholonomic systems; fixed-time stabilization; Lyapunov methods; adaptive control; ANFTSMC; logistics; perturbations (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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