A class of predefined-time stabilizing controllers for nonholonomic system

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dc.contributor.authorJiménez-Rodríguez, Esteban
dc.contributor.authorSánchez-Torres, Juan D.
dc.contributor.authorMuñoz Vázquez, Aldo J.
dc.contributor.authorDefoort, Michael
dc.contributor.authorLoukianov, Alexander
dc.date.accessioned2021-04-27T23:33:12Z
dc.date.available2021-04-27T23:33:12Z
dc.date.issued2019-07
dc.descriptionThe design of a class of predefined-time stabilizing controller for a class uncertain nonholonomic systems in chained form is investigated in this paper. First, some modifications to the classical fixed-time algorithms for first and second order systems are introduced. These modified algorithms, which are developed under the concept of predefined-time stability, reduce the settling time overestimation drawback suffered by the classical fixed-time algorithm. Unlike current finite-time and fixed-time schemes, an upper bound of the settling time is easily tunable through a simple selection of the parameters of the controllers. Then, based on the developed first and second-order algorithms, a switching control strategy is designed to guarantee the predefined-time stability of the chained-form nonholonomic system. Finally, a simulation example is presented to show the effectiveness of the proposed method.es_MX
dc.description.sponsorshipITESO, A.C.es
dc.identifier.citationE. Jiménez-Rodríguez, J. D. Sánchez-Torres, A. J. Muñoz-Vázquez, M. Defoort and A. Loukianov (2019). A Class of Predefined-Time Stabilizing Controllers for Nonholonomic Systems, 27th Mediterranean Conference on Control and Automation (MED), Akko, Israel, 2019, pp. 464-471, doi: 10.1109/MED.2019.8798494.es_MX
dc.identifier.isbn978-1-7281-2804-7
dc.identifier.urihttps://hdl.handle.net/11117/6570
dc.language.isoenges_MX
dc.publisherIEEEes_MX
dc.rights.urihttp://quijote.biblio.iteso.mx/licencias/CC-BY-NC-2.5-MX.pdfes_MX
dc.subjectPredefined-Time Stabilityes_MX
dc.subjectNonholonomic Systemses_MX
dc.subjectMechanical Systemses_MX
dc.titleA class of predefined-time stabilizing controllers for nonholonomic systemes_MX
dc.typeinfo:eu-repo/semantics/articlees_MX
dc.type.versioninfo:eu-repo/semantics/acceptedVersiones_MX

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