New results on adaptive control for a class of delayed nonholonomic systems

This paper introduces a new class of uncertain delayed nonholonomic systems and studies the adaptive control problem. A distinct characteristic of this work lies in that uncertain parameters and unknown time-delay exist in the system simultaneously. By proposing a dynamic gain based Lyapunov-Krasovskii method, we construct an explicit adaptive controller, which guarantees the boundedness of the states of the closed-loop system and the convergence of the original system states. Examples are provided to show the effectiveness of the presented method.

[1]  Zhong-Ping Jiang,et al.  Robust exponential regulation of nonholonomic systems with uncertainties , 2000, Autom..

[2]  Ahmad B. Rad,et al.  Indirect adaptive tracking control of a nonholonomic mobile robot via neural networks , 2012, Neurocomputing.

[3]  A. Astolfi.  Discontinuous control of nonholonomic systems , 1996 .

[4]  Richard M. Murray,et al.  STABILIZATION AND TRACKING FOR NONHOLONOMIC CONTROL SYSTEMS USING TIME-VARYING STATE FEEDBACK , 1992 .

[5]  Chao-Li Wang,et al.  Robust Stabilization of Nonholonomic Chained Form Systems with Uncertainties , 2011 .

[6]  Sambhunath Nandy,et al.  Robust path tracking control of nonholonomic wheeled mobile robot: Experimental validation , 2015 .

[7]  Zhen-Guo Liu,et al.  Output feedback stabilization for time-delay nonholonomic systems with polynomial conditions. , 2015, ISA transactions.

[8]  Peng Shi,et al.  Modeling and adaptive tracking for a class of stochastic Lagrangian control systems , 2013, Autom..

[9]  Yuqiang Wu,et al.  A decoupled adaptive control algorithm for global state feedback stabilization of a class of nonlinear systems , 2015 .

[10]  Khac Duc Do,et al.  Adaptive global stabilization of nonholonomic systems with strong nonlinear drifts , 2002, Syst. Control. Lett..

[11]  Yungang Liu,et al.  Adaptive stabilization of a class of high‐order uncertain nonholonomic systems with unknown control coefficients , 2013 .

[12]  Gang Wang,et al.  Finite-time Stabilization for Nonholonomic Chained Form Systems with Communication Delay , 2014, J. Robotics Netw. Artif. Life.

[13]  Shuzhi Sam Ge,et al.  Adaptive stabilization of uncertain nonholonomic systems by state and output feedback , 2003, Autom..

[14]  Yuqiang Wu,et al.  Robust stabilization of nonholonomic systems with unknown time delays , 2011, Proceedings of the 30th Chinese Control Conference.

[15]  Yuanyuan Wu,et al.  Robust stabilization of delayed nonholonomic systems with strong nonlinear drifts , 2010 .

[16]  Luc Baron,et al.  Design of Stabilizing Controllers With a Dynamic Gain for Feedforward Nonlinear Time-Delay Systems , 2011, IEEE Transactions on Automatic Control.

[17]  SangJoo Kwon,et al.  Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot , 2015 .

[18]  Fangzheng Gao,et al.  Robust adaptive control for nonholonomic systems with nonlinear parameterization , 2010 .

[19]  Mark W. Spong,et al.  Bilateral teleoperation of a formation of nonholonomic mobile robots under constant time delay , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Hua Chen,et al.  Robust stabilization for a class of dynamic feedback uncertain nonholonomic mobile robots with input saturation , 2014 .

[21]  Jay A. Farrell,et al.  Cooperative Control of Multiple Nonholonomic Mobile Agents , 2008, IEEE Transactions on Automatic Control.

[23]  Yan Zhao,et al.  Global asymptotic stability controller of uncertain nonholonomic systems , 2013, J. Frankl. Inst..