New results on adaptive control for a class of delayed nonholonomic systems
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DOI: 10.1007/s12555-015-0293-7
Abstract: This paper introduces a new class of uncertain delayed nonholonomic systems and studies the adaptive control problem. A distinct characteristic of this work lies in that uncertain parameters and unknown time-delay exist in the system… read more here.
Keywords: systems new; adaptive control; class; control ... See more keywords
Predefined-time stabilisation of a class of nonholonomic systems
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DOI: 10.1080/00207179.2019.1569262
Abstract: ABSTRACT This paper deals with the predefined-time stabilisation problem for a class of uncertain chained-form nonholonomic systems. Based on a novel generalised Lyapunov-like characterisation of predefined-time stability, new predefined-time controllers are introduced for a class… read more here.
Keywords: predefined time; class; nonholonomic systems; time ... See more keywords
Quasi-canonicalization for linear homogeneous nonholonomic systems
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DOI: 10.1088/1674-1056/ab8627
Abstract: For conservative linear homogeneous nonholonomic systems, there exists a cotangent bundle with the symplectic structure dπ μ ∧ dζ μ , in which the motion equations of the system can be written into the form… read more here.
Keywords: homogeneous nonholonomic; nonholonomic systems; quasi canonicalization; hamilton jacobi ... See more keywords
Optimal Control of Nonholonomic Systems via Magnetic Fields
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DOI: 10.1109/lcsys.2022.3226715
Abstract: Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem to determine the control and state trajectories to reach a desired outcome while minimizing some cost function. For a controlled… read more here.
Keywords: control; via magnetic; nonholonomic systems; control nonholonomic ... See more keywords
Observerless Output-Feedback Consensus-Based Formation Control of Second-Order Nonholonomic Systems
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2021.3136140
Abstract: We present a solution to the problem of formation consensus control of second-order nonholonomic systems via output feedback. We contribute with a distributed consensus controller for force-controlled nonholonomic systems under the assumption that the forward… read more here.
Keywords: consensus; control second; second order; nonholonomic systems ... See more keywords
Sampled-Data Integral Control of Nonholonomic Systems With Unknown Constant Disturbances
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2022.3152230
Abstract: This note studies the asymptotic regulation problem for a class of nonholonomic systems with unknown constant disturbances, where system nonlinearities admit a lower-triangular form. First, following a new state transformation, the considered systems with unknown… read more here.
Keywords: systems unknown; unknown constant; data integral; nonholonomic systems ... See more keywords
Smooth time-invariant control for leaderless consensus of networked nonholonomic systems
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DOI: 10.1177/1729881417748442
Abstract: This article studies the leaderless consensus control problem of multiple nonholonomic chained systems. Two smooth time-invariant static distributed controllers are derived based on Lyapunov method, graph theory, and LaSalle invariance principle. Both of the proposed… read more here.
Keywords: smooth time; leaderless consensus; control; time invariant ... See more keywords