Prescribed-time stabilizing control of time-varying output constrained nonholonomic systems via non-scaling design
GAO Fang-zheng
LIU Yi-ting
LI Pei-juan
ZHAO Xian-lin
Abstract：This paper reports the problem of prescribed-time stabilization(PTS)for a kind of uncertain nonholonomic systems(NSs)in chained form with time-varying output constraints.To handle the obstacle caused by the output constraints,a tan-type barrier lyapunov function(BLF)is exploited.By suitably introducing the time-varying function into the virtual(actual)controllers,a non-scaling transformation design scheme for state feedback is developed,which forces the states of the closed-loop system(CLS)to zero in any prescribed finite time without disobeying the constraints.In comparison with the traditional scaling transformation design,the advantages of the proposed control strategy are that it both solves the computationally singular problem effectively and leads to a simpler controller by reducing the computation burden of the time-varying scaling function.Finally,the effectiveness of the proposed scheme is confirmed by the simulation results.
Keywords：nonholonomic systems(NSs)time-varying output constraintsnon-scaling transformationprescribed-time stabilization(PTS)
Publication Date：2023-02-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 248-255 )