Uncertain Nonholonomic Systems Control via Sampled-Data Output Feedback of Motor Robot With Two-Dimensional Z-States
Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to the numerous applications in the real world. It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. It has been proven that unde...
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doaj-2d35cf15b3c04ed5a011c62a2a2ddf242021-03-29T22:27:50ZengIEEEIEEE Access2169-35362019-01-017649236493110.1109/ACCESS.2019.29177698718285Uncertain Nonholonomic Systems Control via Sampled-Data Output Feedback of Motor Robot With Two-Dimensional Z-StatesYan Wang0Hongyan Chu1https://orcid.org/0000-0002-6966-2059Brandy Alger2Department of Electrical and Automation Engineering, Nanjing Normal University, Nanjing, ChinaDepartment of Energy and Mechanical Engineering, Nanjing Normal University, Nanjing, ChinaQuake Centre Institutes, University of Canterbury, Christchurch, New ZealandNonholonomic systems with uncertain nonlinearities are sufficiently important to research due to the numerous applications in the real world. It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. It has been proven that under a lower-triangular growth condition, a class of nonholonomic system with a single z-state can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, we will further extend the results to the two-dimensional z-states which is more challenging since the boundedness of the change of coordinates is not proved. To solve this problem, we firstly design a controller for the z-system, which can guarantee the boundedness of the change of coordinates after a certain time. From this, we can construct a globally stabilizing output feedback controller for nonholonomic systems. The examples and computer simulations were conducted to show the effectiveness of the proposed controllers for the two-dimensional z-states.https://ieeexplore.ieee.org/document/8718285/Nonholonomic systemsampled-data output feedback controllerlower-triangular growth conditiontwo-dimensional z-states |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yan Wang Hongyan Chu Brandy Alger |
spellingShingle |
Yan Wang Hongyan Chu Brandy Alger Uncertain Nonholonomic Systems Control via Sampled-Data Output Feedback of Motor Robot With Two-Dimensional Z-States IEEE Access Nonholonomic system sampled-data output feedback controller lower-triangular growth condition two-dimensional z-states |
author_facet |
Yan Wang Hongyan Chu Brandy Alger |
author_sort |
Yan Wang |
title |
Uncertain Nonholonomic Systems Control via Sampled-Data Output Feedback of Motor Robot With Two-Dimensional Z-States |
title_short |
Uncertain Nonholonomic Systems Control via Sampled-Data Output Feedback of Motor Robot With Two-Dimensional Z-States |
title_full |
Uncertain Nonholonomic Systems Control via Sampled-Data Output Feedback of Motor Robot With Two-Dimensional Z-States |
title_fullStr |
Uncertain Nonholonomic Systems Control via Sampled-Data Output Feedback of Motor Robot With Two-Dimensional Z-States |
title_full_unstemmed |
Uncertain Nonholonomic Systems Control via Sampled-Data Output Feedback of Motor Robot With Two-Dimensional Z-States |
title_sort |
uncertain nonholonomic systems control via sampled-data output feedback of motor robot with two-dimensional z-states |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2019-01-01 |
description |
Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to the numerous applications in the real world. It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. It has been proven that under a lower-triangular growth condition, a class of nonholonomic system with a single z-state can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, we will further extend the results to the two-dimensional z-states which is more challenging since the boundedness of the change of coordinates is not proved. To solve this problem, we firstly design a controller for the z-system, which can guarantee the boundedness of the change of coordinates after a certain time. From this, we can construct a globally stabilizing output feedback controller for nonholonomic systems. The examples and computer simulations were conducted to show the effectiveness of the proposed controllers for the two-dimensional z-states. |
topic |
Nonholonomic system sampled-data output feedback controller lower-triangular growth condition two-dimensional z-states |
url |
https://ieeexplore.ieee.org/document/8718285/ |
work_keys_str_mv |
AT yanwang uncertainnonholonomicsystemscontrolviasampleddataoutputfeedbackofmotorrobotwithtwodimensionalzstates AT hongyanchu uncertainnonholonomicsystemscontrolviasampleddataoutputfeedbackofmotorrobotwithtwodimensionalzstates AT brandyalger uncertainnonholonomicsystemscontrolviasampleddataoutputfeedbackofmotorrobotwithtwodimensionalzstates |
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1724191480117985280 |