Global asymptotic stabilization for input-delay chained nonholonomic systems via the static gain approach. Issue 9 (June 2018)

• Record Type: Journal Article
• Authors: Chen, Xiandong; Zhang, Xianfu; Zhang, Chenghui; Chang, Le
• Is Part Of: Journal of the Franklin Institute. Volume 355:Issue 9(2018)
• Page Start: 3895
• Page End: 3910
• Publication Date: 2018-06
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2018.03.009
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: In this paper, a novel control strategy is proposed for asymptotically stabilizing chained nonholonomic systems with input delay. Firstly, by using the input-state-scaling technique and the static gain control method, the stabilization control problem of such systems is transformed into designing two gain parameters to stabilize a class of generalized feedback systems with state delay. Then, based on the Lyapunov–Krasovskii theorem, the stability analysis of the closed-loop systems is achieved by the appropriate selection of the gain parameters, and the state and output feedback controllers are constructed simultaneously. An illustrative example is also provided to demonstrate the effectiveness of the proposed strategy.