TY - JOUR
T1 - Global finite-time stabilization for a class of nonholonomic chained system with input saturation
AU - Li, Baojun
AU - Chen, Hua
AU - Chen, Junfeng
PY - 2014/2/10
Y1 - 2014/2/10
N2 - In this paper, for the first time, the finite-time stabilization problem is addressed for the "3 inputs, 2 chains, 1 generator" nonholonomic chained system with input saturation. A saturated controller is presented by applying the three-step switching control strategy and the theory of finite-time stability, the global stability of the closed-loop system is proved by the Lyapunov stability theory. Finally, the simulation examples demonstrate the correctness and the validity of the proposed controller.
AB - In this paper, for the first time, the finite-time stabilization problem is addressed for the "3 inputs, 2 chains, 1 generator" nonholonomic chained system with input saturation. A saturated controller is presented by applying the three-step switching control strategy and the theory of finite-time stability, the global stability of the closed-loop system is proved by the Lyapunov stability theory. Finally, the simulation examples demonstrate the correctness and the validity of the proposed controller.
KW - Finite-time stabilization
KW - Input saturation
KW - Nonholonomic chained system
KW - Switching control
UR - http://www.scopus.com/inward/record.url?scp=84897705355&partnerID=8YFLogxK
U2 - 10.12733/jics20102678
DO - 10.12733/jics20102678
M3 - Article
SN - 1548-7741
VL - 11
SP - 883
EP - 890
JO - Journal of Information and Computational Science
JF - Journal of Information and Computational Science
IS - 3
ER -