Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method

Guisheng Zhai, Yoshiyuki Miyoshi, Joe Imae, Tomoaki Kobayashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we study the stabilization problem of nonholonomic four-wheeled vehicles with state constraints. Different from the existing approach where usually the system is transformed into a chained form or a nonholonomic integrator, we deal with the system directly without any transformation, by using finite-time stabilization method repeatedly in a piecewise manner. The main control strategy is to divide the whole procedure into five stages, and to design a finite-time stabilizing controller in each stage so that the vehicle's steering angle and attitude angle reach desired values. The desired values are computed depending on the vehicle's states so that the vehicle moves between two switching lines (corresponding to the state constraints) and finally reaches the desired terminal point.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume2
EditionPART 1
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2nd IFAC International Conference on Intelligent Control Systems and Signal Processing - Istanbul
Duration: 2009 Sep 212009 Sep 23

Other

Other2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
CityIstanbul
Period09/9/2109/9/23

Fingerprint

Stabilization
Controllers

Keywords

  • Finite-time stability
  • Finite-time stabilization
  • Four-wheeled vehicles
  • Nonholonomic systems
  • Switching control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Zhai, G., Miyoshi, Y., Imae, J., & Kobayashi, T. (2009). Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 2) https://doi.org/10.3182/20090921-3-TR-3005.00091

Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method. / Zhai, Guisheng; Miyoshi, Yoshiyuki; Imae, Joe; Kobayashi, Tomoaki.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 2 PART 1. ed. 2009.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zhai, G, Miyoshi, Y, Imae, J & Kobayashi, T 2009, Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 2, 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing, Istanbul, 09/9/21. https://doi.org/10.3182/20090921-3-TR-3005.00091
Zhai G, Miyoshi Y, Imae J, Kobayashi T. Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method. In IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 ed. Vol. 2. 2009 https://doi.org/10.3182/20090921-3-TR-3005.00091
Zhai, Guisheng ; Miyoshi, Yoshiyuki ; Imae, Joe ; Kobayashi, Tomoaki. / Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 2 PART 1. ed. 2009.
@inproceedings{b26b23f4c4c845009e58e9f0c1d7b5e8,
title = "Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method",
abstract = "In this paper, we study the stabilization problem of nonholonomic four-wheeled vehicles with state constraints. Different from the existing approach where usually the system is transformed into a chained form or a nonholonomic integrator, we deal with the system directly without any transformation, by using finite-time stabilization method repeatedly in a piecewise manner. The main control strategy is to divide the whole procedure into five stages, and to design a finite-time stabilizing controller in each stage so that the vehicle's steering angle and attitude angle reach desired values. The desired values are computed depending on the vehicle's states so that the vehicle moves between two switching lines (corresponding to the state constraints) and finally reaches the desired terminal point.",
keywords = "Finite-time stability, Finite-time stabilization, Four-wheeled vehicles, Nonholonomic systems, Switching control",
author = "Guisheng Zhai and Yoshiyuki Miyoshi and Joe Imae and Tomoaki Kobayashi",
year = "2009",
doi = "10.3182/20090921-3-TR-3005.00091",
language = "English",
isbn = "9783902661661",
volume = "2",
booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
edition = "PART 1",

}

TY - GEN

T1 - Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method

AU - Zhai, Guisheng

AU - Miyoshi, Yoshiyuki

AU - Imae, Joe

AU - Kobayashi, Tomoaki

PY - 2009

Y1 - 2009

N2 - In this paper, we study the stabilization problem of nonholonomic four-wheeled vehicles with state constraints. Different from the existing approach where usually the system is transformed into a chained form or a nonholonomic integrator, we deal with the system directly without any transformation, by using finite-time stabilization method repeatedly in a piecewise manner. The main control strategy is to divide the whole procedure into five stages, and to design a finite-time stabilizing controller in each stage so that the vehicle's steering angle and attitude angle reach desired values. The desired values are computed depending on the vehicle's states so that the vehicle moves between two switching lines (corresponding to the state constraints) and finally reaches the desired terminal point.

AB - In this paper, we study the stabilization problem of nonholonomic four-wheeled vehicles with state constraints. Different from the existing approach where usually the system is transformed into a chained form or a nonholonomic integrator, we deal with the system directly without any transformation, by using finite-time stabilization method repeatedly in a piecewise manner. The main control strategy is to divide the whole procedure into five stages, and to design a finite-time stabilizing controller in each stage so that the vehicle's steering angle and attitude angle reach desired values. The desired values are computed depending on the vehicle's states so that the vehicle moves between two switching lines (corresponding to the state constraints) and finally reaches the desired terminal point.

KW - Finite-time stability

KW - Finite-time stabilization

KW - Four-wheeled vehicles

KW - Nonholonomic systems

KW - Switching control

UR - http://www.scopus.com/inward/record.url?scp=79955718945&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79955718945&partnerID=8YFLogxK

U2 - 10.3182/20090921-3-TR-3005.00091

DO - 10.3182/20090921-3-TR-3005.00091

M3 - Conference contribution

SN - 9783902661661

VL - 2

BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

ER -