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The extended nonholonomic double intergrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett's condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system with the drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying...
This paper considers the problem of composite disturbance-observer-based control (DOBC) and H∞ control for time-delay systems with nonlinear perturbations. The external disturbance is supposed to be generated by an exogenous system with time delay. After designing the corresponding disturbance observer and controller, we obtain a complex closed-loop time-delay system. Based on the LMI technologies...
The problem of guaranteed cost Hinfin control was considered for uncertain stochastic systems with state and input-delays. Based on linear matrix inequality (LMI) method, Ito formula, and so on, a sufficient condition for the solvability of this problem is obtained. Attention is focused on the design of a linear memoryless state feedback controller, which ensures the closed-loop system is mean-square...
A kinematic model of tracked vehicles is established in this paper, in which both longitudinal and lateral slipping is considered and processed as three time-varying parameters. Unscented Kalman filter is then introduced to real time estimate the pose and slipping parameters jointly. A stable tracking control law for this nonholonomic system is proposed and the asymptotic stability is guaranteed by...
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