Details

Title

Predictor-based stabilization for chained form systems with input time delay

Journal title

Archives of Control Sciences

Yearbook

2016

Numer

No 4

Publication authors

Divisions of PAS

Nauki Techniczne

Abstract

<jats:title>Abstract</jats:title> <jats:p> This note addresses the stabilization problem of nonlinear chained-form systems with input time delay. We first employ the so-called σ-process transformation that renders the feedback system under a linear form. We introduce a particular transformation to convert the original system into a delay-free system. Finally, we apply a state feedback control, which guarantees a quasi-exponential stabilization to all the system states, which in turn converge exponentially to zero. Then we employ the so-called -type control to achieve a quasi-exponential stabilization of the subsequent system. A simulation example illustrated on the model of a wheeled mobile robot is provided to demonstrate the effectiveness of the proposed approach.</jats:p>

Publisher

Committee of Automatic Control and Robotics PAS

Date

2016

Identifier

ISSN 1230-2384

References

HOKAYEM (2006), Bilateral teleoperation : An historical survey, Automatica, 42. ; BLOCH (1992), Control and stabilization of nonholonomic dynamic systems on Automatic Control, IEEE Trans, 37. ; MARTYNENKO (2007), Motion control of mobile wheeled robots of Mathematical, Sciences, 147. ; CHOPRA (2010), Control of robotic manipulators under time varying sensing - control delays of the IEEE on Robotics and Automation, Proc, 1768. ; MNIF (2006), Recursive backstepping stabilization of a wheeled mobile robot of the Imech Part I of Systems and Control Engineering, Proc, 6, 219. ; CLOSKEY (1993), Nonholonomic systems and exponential convergence : some analysis tools nd on Decision and Control Texas, IEEE Conf, 943.

DOI

10.1515/acsc-2016-0028

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