具有扰动的扩展链式非全局系统的稳定控制器：一种 FAS 方法

IF 15.3 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Ieee-Caa Journal of Automatica Sinica Pub Date : 2024-04-15 DOI:10.1109/JAS.2023.124098

Zhongcai Zhang;Guangren Duan

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引用次数: 0

摘要

本研究探讨了具有外部扰动的扩展链式非全局系统（ECNS）的稳定问题。与现有方法不同的是，我们将所考虑的系统转化为完全致动系统（FAS）模型，从而简化了稳定控制器的设计。我们实施了单独的控制器设计，并针对两个系统输入提出了指数稳定控制器和有限时间扰动观测器（FTDO）下的有限时间稳定控制器。此外，我们还讨论了全局稳定控制设计的具体细节。我们的方法证明，在所提供的切换稳定控制策略下，两个系统状态会指数或渐近地趋近于零，而所有其他系统状态都会在有限时间内趋近于零。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Stabilization Controller of an Extended Chained Nonholonomic System With Disturbance: An FAS Approach

This study examines the stabilization issue of extended chained nonholonomic systems (ECNSs) with external disturbance. Unlike the existing approaches, we transform the considered system into a fully actuated system (FAS) model, simplifying the stabilizing controller design. We implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer (FTDO) for the two system inputs. In addition, we discuss the specifics of global stabilization control design. Our approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy, while all other system states converge to zero within a finite time.

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来源期刊

Ieee-Caa Journal of Automatica Sinica Engineering-Control and Systems Engineering

CiteScore

23.50

自引率

11.00%

发文量

880

期刊介绍： The IEEE/CAA Journal of Automatica Sinica is a reputable journal that publishes high-quality papers in English on original theoretical/experimental research and development in the field of automation. The journal covers a wide range of topics including automatic control, artificial intelligence and intelligent control, systems theory and engineering, pattern recognition and intelligent systems, automation engineering and applications, information processing and information systems, network-based automation, robotics, sensing and measurement, and navigation, guidance, and control. Additionally, the journal is abstracted/indexed in several prominent databases including SCIE (Science Citation Index Expanded), EI (Engineering Index), Inspec, Scopus, SCImago, DBLP, CNKI (China National Knowledge Infrastructure), CSCD (Chinese Science Citation Database), and IEEE Xplore.