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A composite feedback approach to stabilize nonholonomic systems with time varying time delays and nonlinear
Somayieh Rasoolinasab1, Saleh Mobayen2, Afef Fekih3
1Advanced Control Systems Laboratory, Department of Electrical Engineering, Faculty of Engineering, University of Zanjan, Zanjan 3879145371, Iran.
Abstract:
In this work, we propose a robust stabilizer for nonholonomic systems with time varying time delays and nonlinear disturbances. The proposed approach implements a composite nonlinear feedback structure in which a linear controller is designed to yield a fast response and a nonlinear feedback control law is considered to increase the system's damping ratio. This structure results in the simultaneous improvement of the steady-state accuracy and transient performance of time-delay nonholonomic systems. Asymptotic stability of the proposed feedback control approach is derived using a Lyapunov-Krasovskii functional aimed at reaching a compromise between system's transient performance and asymptotic stability. Simulation and analytical results are considered to highlight the robustness and superior performance of the proposed approach in controlling high-order-time-delay nonholonomic systems with nonlinear disturbances.
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