- Tytuł:
- Predictor-based stabilization for chained form systems with input time delay
- Autorzy:
- Mnif, F.
- Powiązania:
- https://bibliotekanauki.pl/articles/229546.pdf
- Data publikacji:
- 2016
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
σ-process transformation
chained form systems
mobile robots
exponential stabilization
time delay system - Opis:
- 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.
- Źródło:
-
Archives of Control Sciences; 2016, 26, 4; 515-525
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł