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

Guisheng Zhai, Yoshiyuki Miyoshi, Joe Imae, Tomoaki Kobayashi

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
出版社IFAC Secretariat
PART 1
ISBN(印刷版)9783902661661
DOI
出版ステータスPublished - 2009
外部発表はい

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号PART 1
2
ISSN(印刷版)1474-6670

ASJC Scopus subject areas

  • Control and Systems Engineering

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