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arXiv · 2409.03337

Global prescribed-time control of a class of uncertain nonholonomic systems by smooth time-varying feedback

Kang-Kang Zhang·Bin Zhou·Chenchen Fan·James Lam
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Abstract

This paper investigates the prescribed-time smooth control problem for a class of uncertain nonholonomic systems. With a novel smooth time-varying state transformation, the uncertain chained nonholonomic system is reformulated as an uncertain linear time-varying system. By fully utilizing the properties of a class of parametric Lyapunov equations and constructing time-varying Lyapunov-like functions, smooth time-varying high-gain state and output feedback controllers are designed. The states and controllers are proven to converge to zero at any prescribed time. The proposed smooth time-varying method combines the advantage of a time-varying high-gain function, which enhances control performance, and a smooth time-varying function that can drive the states to zero at the prescribed time. The effectiveness of the proposed methods is verified by a numerical example.

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Kang-Kang Zhang, Bin Zhou, Chenchen Fan, James Lam. 2024-09-05. Global prescribed-time control of a class of uncertain nonholonomic systems by smooth time-varying feedback. https://arxiv.org/abs/2409.03337

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