Fixed-time output tracking control for extended nonholonomic chained-form systems with state observers. (March 2020)

• Record Type: Journal Article
• Authors: Chen, Hua; Li, Huilin; Yang, YiWen; Chu, Lulu
• Is Part Of: Measurement and control. Volume 53:Number 3/4(2020)
• Page Start: 400
• Page End: 408
• Publication Date: 2020-03
• Subjects: Fixed-time -- nonholonomic systems -- state observers -- tracking; Automatic control -- Periodicals; Engineering instruments -- Periodicals; Production engineering -- Periodicals; 629.8
• DOI: 10.1177/0020294019877519
• Languages: English
• ISSNs: 0020-2940

Abstract

This paper deals with the fixed-time tracking control problem of extended nonholonomic chained-form systems with state observers. According to the structure characteristic of such chained-form systems, two subsystems are considered to design controllers, respectively. First of all, using the fixed-time control theory, a controller is proposed to make the first tracking error subsystem converge to zero in bounded time independent initial state. Second, a state observer is proposed to estimate the unmeasurable states of the second subsystem. And the precise state estimation can be presented from the observer within finite time; moreover, the upper bound of time is a constant independent on the initial estimation error. Third, a fixed-time controller is designed to drive all states of the second chained-form subsystem to zero within pre-calculated time. Finally, the effectiveness of the proposed control scheme is validated by simulation results.