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

Guisheng Zhai; Yoshiyuki Miyoshi; Joe Imae; Tomoaki Kobayashi

doi:10.3182/20090921-3-TR-3005.00091

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 proceeding › Conference 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 language	English
Title of host publication	2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
Edition	PART 1
DOIs	https://doi.org/10.3182/20090921-3-TR-3005.00091
Publication status	Published - 2009 Dec 1
Externally published	Yes
Event	2nd IFAC International Conference on Intelligent Control Systems and Signal Processing - Istanbul, Turkey Duration: 2009 Sep 21 → 2009 Sep 23

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	2
ISSN (Print)	1474-6670

Conference

Conference	2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
Country	Turkey
City	Istanbul
Period	09/9/21 → 09/9/23

Keywords

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

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20090921-3-TR-3005.00091

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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 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing (PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1). 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.

2nd IFAC International Conference on Intelligent Control Systems and Signal Processing. PART 1. ed. 2009. (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhai, G, Miyoshi, Y, Imae, J & Kobayashi, T 2009, Switching controller design for nonholonomic four-wheeled vehicles via finite-time stabilization Method. in 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 2, 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing, Istanbul, Turkey, 09/9/21. https://doi.org/10.3182/20090921-3-TR-3005.00091

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keywords = "Finite-time stability, Finite-time stabilization, Four-wheeled vehicles, Nonholonomic systems, Switching control",

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