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Volume 11 Issue 5
May  2024

IEEE/CAA Journal of Automatica Sinica

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Z. Zhang and  G. Duan,  “Stabilization controller of an extended chained nonholonomic system with disturbance:  An FAS approach,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 5, pp. 1262–1273, May 2024. doi: 10.1109/JAS.2023.124098
Citation: Z. Zhang and  G. Duan,  “Stabilization controller of an extended chained nonholonomic system with disturbance:  An FAS approach,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 5, pp. 1262–1273, May 2024. doi: 10.1109/JAS.2023.124098

Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:  An FAS Approach

doi: 10.1109/JAS.2023.124098
Funds:  This work was partially supported by the National Natural Science Foundation of China (62173207, 62073187), the Science Center Program of the National Natural Science Foundation of China (62188101), the China Postdoctoral Science Special Foundation (2023T160334), and the Youth Innovation Team Project of Colleges and Universities in Shandong Province (2022KJ176)
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  • This study examines the stabilization issue of extended chained nonholonomic systems (ECNSs) with external disturbance. Unlike the existing approaches, we transform the considered system into a fully actuated system (FAS) model, simplifying the stabilizing controller design. We implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer (FTDO) for the two system inputs. In addition, we discuss the specifics of global stabilization control design. Our approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy, while all other system states converge to zero within a finite time.

     

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    Highlights

    • The ECNS is equivalently converted into an FAS model through state transformations
    • The obtained linear FAS model significantly reduces the design complexity
    • A switching stabilizing control strategy is proposed based on an FTDO

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