A time-scale transformation approach to prescribed-time stabilisation of non-holonomic systems with inputs quantisation. Issue 8 (11th June 2022)

• Record Type: Journal Article
• Authors: Gao, Fangzheng; Huang, Jiacai; Wu, Yuqiang; Zhao, Xianlin
• Is Part Of: International journal of systems science. Volume 53:Issue 8(2022)
• Page Start: 1796
• Page End: 1808
• Publication Date: 2022-06-11
• Subjects: Non-holonomic systems -- inputs quantisation -- time-scale transformation -- prescribed-time stabilisation; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2021.2024296
• Languages: English
• ISSNs: 0020-7721

Abstract

Abstract : This article addresses the problem of global stabilisation using state feedback for a kind of uncertain non-holonomic systems in chained form. Two distinct characteristics of this study are that the considered system suffers from the input-quantised actuator, and the system states are expected to converge to zero in prescribed finite time. To address these, a time-scale transformation, that can change the original stabilisation into the finite-time stabilisation of the transformed one, is first introduced. Then, under the new framework of equivalent transformation, a quantised state feedback controller that achieves of the performance requirements is developed with the aid of the recursive technique. Finally, simulation results of a unicycle-type mobile robot are provided to confirm the efficacy of the proposed approach.