TY - GEN
T1 - Prescribed-Time Control for Nonholonomic Systems
T2 - 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
AU - Zhang, Jiaming
AU - Liu, Yang
AU - Niu, Ben
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This paper investigates the prescribed-time control problem for nonholonomic systems with time-varying unknown control coefficient. First, by employing a state transformation, a fully actuated and decoupled nonholonomic system is obtained. Different from existing prescribed-time stability theorem, a more general one is presented in this paper to facilitate controller designing. Then, a time-varying fully actuated controller is constructed by using the prescribed-time adjustment function and the Nussbaum function. With the aid of the solution parameter Lyapunov function, it can ensure that all states converge to zero within the prescribed time. Finally, the simulation studies on hopping robot demonstrate the effectiveness of the proposed scheme.
AB - This paper investigates the prescribed-time control problem for nonholonomic systems with time-varying unknown control coefficient. First, by employing a state transformation, a fully actuated and decoupled nonholonomic system is obtained. Different from existing prescribed-time stability theorem, a more general one is presented in this paper to facilitate controller designing. Then, a time-varying fully actuated controller is constructed by using the prescribed-time adjustment function and the Nussbaum function. With the aid of the solution parameter Lyapunov function, it can ensure that all states converge to zero within the prescribed time. Finally, the simulation studies on hopping robot demonstrate the effectiveness of the proposed scheme.
KW - Fully actuated systems method
KW - Nonholonomic systems
KW - Nussbaum function
KW - Prescribed-time control
UR - https://www.scopus.com/pages/publications/105017767271
U2 - 10.1109/FASTA65681.2025.11138494
DO - 10.1109/FASTA65681.2025.11138494
M3 - 会议稿件
AN - SCOPUS:105017767271
T3 - Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
SP - 1645
EP - 1649
BT - Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 4 July 2025 through 6 July 2025
ER -