Global Stabilization of Nonholonomic Chained Form Systems with Input Delay

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...

Full description

Bibliographic Details
Main Authors: Yanling Shang, Jing Xie
Format: Article
Language:English
Published: Hindawi Limited 2014-01-01
Series:Abstract and Applied Analysis
Online Access:http://dx.doi.org/10.1155/2014/156457
id doaj-888d8d84ba894a0b8619c154ee45513b
record_format Article
spelling doaj-888d8d84ba894a0b8619c154ee45513b2020-11-24T23:20:09ZengHindawi LimitedAbstract 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
collection DOAJ
language English
format Article
sources DOAJ
author Yanling Shang
Jing Xie
spellingShingle Yanling Shang
Jing Xie
Global Stabilization of Nonholonomic Chained Form Systems with Input Delay
Abstract and Applied Analysis
author_facet Yanling Shang
Jing Xie
author_sort Yanling Shang
title Global Stabilization of Nonholonomic Chained Form Systems with Input Delay
title_short 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_sort global stabilization of nonholonomic chained form systems with input delay
publisher Hindawi Limited
series Abstract and Applied Analysis
issn 1085-3375
1687-0409
publishDate 2014-01-01
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.
url http://dx.doi.org/10.1155/2014/156457
work_keys_str_mv AT yanlingshang globalstabilizationofnonholonomicchainedformsystemswithinputdelay
AT jingxie globalstabilizationofnonholonomicchainedformsystemswithinputdelay
_version_ 1725575694778368000

Similar Items