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
N1 - Funding Information:
This research has been supported in part by the Japan Ministry of Education, Sciences and Culture under Grant-in-Aid for Scientific Research (C) 21560471.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
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
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U2 - 10.3182/20090921-3-TR-3005.00091
DO - 10.3182/20090921-3-TR-3005.00091
M3 - Conference contribution
AN - SCOPUS:79955718945
SN - 9783902661661
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
PB - IFAC Secretariat
ER -