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Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control
Joint Authors
Chen, Hua
Sun, Xiaoying
Xu, Shen
Wang, Yuxuan
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-03-24
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
In this paper, the stabilization problem of nonholonomic chained-form systems is addressed with uncertain constants.
In this paper, the active disturbance rejection control (ADRC) is designed to solve this problem.
The proposed control strategy combines extended state observer (ESO) and adaptive sliding mode controller.
The control of nonholonomic chained-form systems with dynamic nonlinear uncertain terms and uncertain constants is first discussed in this paper.
In comparison with existing methods, the proposed method in this paper has better performance.
It is proved that, with the application of the proposed control strategy, semiglobal finite-time stabilization of the systems is achieved.
An example is given to illustrate the effectiveness of the proposed method.
American Psychological Association (APA)
Chen, Hua& Sun, Xiaoying& Xu, Shen& Wang, Yuxuan. 2019. Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control. Complexity،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1130996
Modern Language Association (MLA)
Chen, Hua…[et al.]. Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control. Complexity No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1130996
American Medical Association (AMA)
Chen, Hua& Sun, Xiaoying& Xu, Shen& Wang, Yuxuan. Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control. Complexity. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1130996
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1130996