Authors
Hengjun Zhang, Chaoli Wang, Gang Wang
Corresponding Author
Chaoli Wang
Available Online 30 June 2014.
DOI
https://doi.org/10.2991/jrnal.2014.1.1.8
Keywords
Finite-time stabilization, nonholonomic chained systems, communication
delay
Abstract
In this paper, the problem of finite-time stabilization is developed for
nonholonomic chained form systems with communication delay in the input.
The finite-time control laws are presented by utilizing the switching control
strategy and the theory of finite-time stability, which can make the states
of the nonholonomic chained form systems to converge from any non-equilibrium
state to the equilibrium or a given point in a finite time. Finally, the
simulation results show the effectiveness of the proposed control approach.
Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).