Continuous Stabilization Controller for Nonlinear Systems With Two Piecewise Controllers and Its Application to Underactuated Ships
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View abstract on PubMed
Summary
This summary is machine-generated.This study addresses discontinuous control in nonholonomic systems by developing continuous stabilization methods. We introduce a novel controller extension technique for smooth control of nonlinear systems, including underactuated ships.
Area Of Science
- Control Theory
- Nonlinear Systems
- Robotics
Background
- Stabilizing control of nonholonomic systems often involves independent steps, leading to discontinuous switching control issues.
- Certain initial system states can exacerbate these discontinuous control problems.
Purpose Of The Study
- To investigate continuous and smooth stabilization control for nonlinear systems.
- To develop methods for handling systems with piecewise continuous or smooth stabilization controllers.
- To address the challenge of discontinuous switching control in nonholonomic systems.
Main Methods
- Sufficient conditions for controller existence were established.
- A controller extension method was employed to create intermediate auxiliary controllers.
- Model transformation (cascade, fully actuated) and extended state observers were utilized.
Main Results
- The controller extension method successfully linked piecewise controllers continuously or smoothly.
- The proposed method effectively solved the stabilization control problem for an underactuated surface ship.
- External disturbances were successfully managed in the stabilization control of the ship.
Conclusions
- Continuous and smooth stabilization control is achievable for nonlinear systems with piecewise controllers.
- The controller extension method offers a viable approach to overcoming discontinuous control issues.
- The developed techniques are applicable to complex systems like underactuated ships facing external disturbances.
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