Global Stabilization of Nonholonomic Chained Form Systems with Input Delay
This paper investigates the global stabilization problem for a class of nonholonomic systems in chained form with input delay. A particular transformation is introduced to convert the original time-delay system into a delay-free form. Then, by using input-state-scaling technique and the method of sl...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2014/156457 |
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| _version_ | 1832550013976182784 |
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| author | Yanling Shang Jing Xie |
| author_facet | Yanling Shang Jing Xie |
| author_sort | Yanling Shang |
| collection | DOAJ |
| description | This paper investigates the global stabilization problem for a class of nonholonomic systems in chained form with input delay. A particular transformation is introduced to convert the original time-delay system into a delay-free form. Then, by using input-state-scaling technique and the method of sliding mode control, a constructive design procedure for state feedback control is given, which can guarantee that all the system states globally asymptotically converge to the origin. An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme. |
| format | Article |
| id | doaj-art-888d8d84ba894a0b8619c154ee45513b |
| institution | Kabale University |
| issn | 1085-3375 1687-0409 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Abstract and Applied Analysis |
| spelling | doaj-art-888d8d84ba894a0b8619c154ee45513b2025-02-03T06:08:00ZengWileyAbstract and Applied Analysis1085-33751687-04092014-01-01201410.1155/2014/156457156457Global Stabilization of Nonholonomic Chained Form Systems with Input DelayYanling Shang0Jing Xie1School of Software, Anyang Normal University, Anyang 455000, ChinaSchool of Mathematics and Physics, Anyang Institute of Technology, Anyang 455000, ChinaThis paper investigates the global stabilization problem for a class of nonholonomic systems in chained form with input delay. A particular transformation is introduced to convert the original time-delay system into a delay-free form. Then, by using input-state-scaling technique and the method of sliding mode control, a constructive design procedure for state feedback control is given, which can guarantee that all the system states globally asymptotically converge to the origin. An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme.http://dx.doi.org/10.1155/2014/156457 |
| spellingShingle | Yanling Shang Jing Xie Global Stabilization of Nonholonomic Chained Form Systems with Input Delay Abstract and Applied Analysis |
| title | Global Stabilization of Nonholonomic Chained Form Systems with Input Delay |
| title_full | Global Stabilization of Nonholonomic Chained Form Systems with Input Delay |
| title_fullStr | Global Stabilization of Nonholonomic Chained Form Systems with Input Delay |
| title_full_unstemmed | Global Stabilization of Nonholonomic Chained Form Systems with Input Delay |
| title_short | Global Stabilization of Nonholonomic Chained Form Systems with Input Delay |
| title_sort | global stabilization of nonholonomic chained form systems with input delay |
| url | http://dx.doi.org/10.1155/2014/156457 |
| work_keys_str_mv | AT yanlingshang globalstabilizationofnonholonomicchainedformsystemswithinputdelay AT jingxie globalstabilizationofnonholonomicchainedformsystemswithinputdelay |