Barrier Lyapunov functions-based fixed-time stabilization of nonholonomic systems with unmatched uncertainties and time-varying output constraints |
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Authors: | Yao Hejun Gao Fangzheng Huang Jiacai Wu Yuqiang |
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Institution: | 1.School of Mathematics and Statistics, Anyang Normal University, Anyang, 455000, China ;2.School of Automation, Nanjing Institute of Technology, Nanjing, 211167, China ;3.Institute of Automation, Qufu Normal University, Qufu, 273165, China ; |
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Abstract: | The fixed-time stabilization problem is addressed in this paper for a kind of nonholonomic systems in chained form with unmatched uncertainties and time-varying output constraints. A novel tan-type barrier Lyapunov function is introduced to deal with time-varying output constraints. Under the unified framework of the considered system with and without output constraints, a state feedback controller is designed with the aid of adding a power integrator technique and switching control strategy. It is shown that the suggested controller ensures the states of closed-loop system to zero in a given fixed time without disobeying the constraints. Finally, simulation results are given to confirm the efficacy of the presented control scheme. |
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