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

Fangzheng Gao, Jiacai Huang, Yuqiang Wu and Xianlin Zhao

International Journal of Systems Science, 2022, vol. 53, issue 8, 1796-1808

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.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2021.2024296 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:53:y:2022:i:8:p:1796-1808

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2021.2024296

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().