TY - JOUR
T1 - Fixed-time stabilisation and consensus of non-holonomic systems
AU - Defoort, Michael
AU - Demesure, Guillaume
AU - Uo, Zongyu
AU - Zuo, Zongyu
AU - Polyakov, Andrey
AU - Djemai, Mohamed
N1 - Publisher Copyright:
© The Institution of Engineering and Technology 2016.
PY - 2016/12/12
Y1 - 2016/12/12
N2 - This study deals with the fixed-time stabilisation of a class of non-linear systems. A non-linear controller, based on sliding mode, is proposed to ensure the fixed-time stabilisation of a non-holonomic system in chained form. An upper bound of the settling time, independent of the initial system state, is estimated. Then, a distributed switched strategy, based on local information, is introduced to solve the fixed-time consensus problem for multiple non-holonomic agents. Using Lyapunov functions, the switching times are explicitly given and only depend on the controller gains and the Laplacian matrix. Simulation results highlight the efficiency of the proposed method.
AB - This study deals with the fixed-time stabilisation of a class of non-linear systems. A non-linear controller, based on sliding mode, is proposed to ensure the fixed-time stabilisation of a non-holonomic system in chained form. An upper bound of the settling time, independent of the initial system state, is estimated. Then, a distributed switched strategy, based on local information, is introduced to solve the fixed-time consensus problem for multiple non-holonomic agents. Using Lyapunov functions, the switching times are explicitly given and only depend on the controller gains and the Laplacian matrix. Simulation results highlight the efficiency of the proposed method.
UR - https://www.scopus.com/pages/publications/85006736354
U2 - 10.1049/iet-cta.2016.0094
DO - 10.1049/iet-cta.2016.0094
M3 - 文章
AN - SCOPUS:85006736354
SN - 1751-8644
VL - 10
SP - 2497
EP - 2505
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
IS - 18
ER -