Predefined-time stabilisation of a class of nonholonomic systems

• Published in: International journal of control Vol. 93; no. 12; pp. 2941 - 2948
• Main Authors: Sánchez-Torres, Juan Diego, Defoort, Michael, Muñoz-Vázquez, Aldo Jonathan
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 01.12.2020; Taylor & Francis Ltd
• Subjects: Automatic; chained-form dynamics; Control stability; Engineering Sciences; Feedback control; Lyapunov methods; nonholonomic system; Parameters; Predefined-time stabilisation; Settling; Switching; Upper bounds; "Lyapunov methods"; "nonholonomic system"; "Predefined-time stabilisation"; "chained-form dynamics"
• ISSN: 0020-7179; 1366-5820
• DOI: 10.1080/00207179.2019.1569262

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 of first and second order systems with matched perturbations. Contrary to existing finite-time and fixed-time schemes, an upper bound of the settling time is an easily tuneable control parameter. Then, these results for first and second order systems are used to design a switching strategy, which guarantees the predefined-time stability of the closed-loop system. The switching time and the settling-time can be easily tuned according to the control parameters. A benchmark example is presented to show the effectiveness of the proposed method.