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Output feedback stabilization for time-delay nonholonomic systems with polynomial conditions.

Yu-Qiang Wu1, Zhen-Guo Liu2

  • 1Institute of Automation, Qufu Normal University, Qufu, Shandong 273165, PR China.

ISA Transactions
|April 7, 2015
PubMed
Summary

This study presents a novel output feedback control for time-delay nonholonomic systems with polynomial nonlinearities. The method ensures all system states converge to the origin, validated by examples.

Keywords:
Homogeneous domination approachLyapunov–Krasovskii theoremNonholonomic systemsOutput feedbackTime-delay systems

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Area of Science:

  • Control Systems Engineering
  • Nonlinear Dynamics
  • Systems Theory

Background:

  • Nonholonomic systems are complex mechanical systems with constraints.
  • Time-delay and nonlinearities pose significant challenges in control system design.
  • Output feedback control is crucial when full state information is unavailable.

Purpose of the Study:

  • To develop an output feedback stabilization method for time-delay nonholonomic systems.
  • To address the specific difficulty of time-delay in polynomial nonlinear growing conditions.
  • To design a control law guaranteeing global asymptotic stability.

Main Methods:

  • Input-state-scaling technique for handling nonlinearities and delays.
  • Homogeneous domination approach for controller design.
  • Lyapunov-Krasovskii theorem for stability analysis.

Main Results:

  • A novel output feedback control law is designed.
  • The proposed control law guarantees convergence of all system states to the origin.
  • Demonstrated the effectiveness of the approach through illustrative examples.

Conclusions:

  • The developed output feedback control strategy effectively stabilizes time-delay nonholonomic systems with polynomial nonlinearities.
  • The combination of input-state-scaling, homogeneous domination, and Lyapunov-Krasovskii theorem provides a robust solution.
  • The findings offer a valuable contribution to the field of advanced control systems.