Abstract
This paper investigates the smooth finite-dimensional time-varying control problem for chained nonholonomic systems with distributed input delays. For the scalar distributed delay system, a smooth finite-dimensional nonhomogeneous controller is proposed. By using a smooth time-varying state transformation, a chained nonholonomic system with distributed input delay is transformed into a linear time-varying system with a distributed input delay. With the aid of the inherent structural properties of chained nonholonomic system, smooth finite-dimensional linear time-varying controllers are constructed. Unlike traditional predictor feedback, which involves infinite-dimensional terms, the proposed controllers are finite-dimensional and easier to implement. By utilizing Barbalat's lemma, it is shown that the proposed control laws can drive the states to zero. Both state feedback and observer-based output feedback are considered. The effectiveness of the proposed methods is verified through a numerical example. © 2025 Elsevier Ltd.
| Original language | English |
|---|---|
| Article number | 112307 |
| Journal | Automatica |
| Volume | 177 |
| Online published | 10 Apr 2025 |
| DOIs | |
| Publication status | Published - Jul 2025 |
Funding
This work was supported in part by the NSFC ( 62125303 , 62188101 , 62203142 ), and HKU CRCG ( 2302101740 ). The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Anton Selivanov under the direction of Editor Florian Dorfler.
Research Keywords
- Chained nonholonomic systems
- Distributed input delays
- Smooth time-varying feedback
Fingerprint
Dive into the research topics of 'Smooth finite-dimensional time-varying feedback for chained nonholonomic systems with distributed input delays'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver