Abstract
This note addresses the stabilization problem of nonlinear chained-form systems with input time delay. We first employ the so-called σ-process transformation that renders the feedback system under a linear form. We introduce a particular transformation to convert the original system into a delay-free system. Finally, we apply a state feedback control, which guarantees a quasi-exponential stabilization to all the system states, which in turn converge exponentially to zero. Then we employ the so-called -type control to achieve a quasi-exponential stabilization of the subsequent system. A simulation example illustrated on the model of a wheeled mobile robot is provided to demonstrate the effectiveness of the proposed approach.
Original language | English |
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Pages (from-to) | 515-525 |
Number of pages | 11 |
Journal | Archives of Control Sciences |
Volume | 26 |
Issue number | 4 |
DOIs | |
Publication status | Published - Dec 2016 |
Keywords
- Chained form systems
- Exponential stabilization
- Mobile robots
- Time delay system
- σ-process transformation
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization