Somayieh Rasoolinasab
A composite feedback approach to stabilize nonholonomic systems with time varying time delays and nonlinear disturbances
Rasoolinasab, Somayieh; Mobayen, Saleh; Fekih, Afef; Narayan, Pritesh; Yao, Yufeng
Authors
Saleh Mobayen
Afef Fekih
Pritesh Narayan Pritesh.Narayan@uwe.ac.uk
Deputy Head of Department
Yufeng Yao Yufeng.Yao@uwe.ac.uk
Professor in Aerospace Engineering
Abstract
In this work, we propose a robust stabilizer for nonholonomic systems with time varying time delays and nonlinear disturbances. The proposed approach implements a composite nonlinear feedback structure in which a linear controller is designed to yield a fast response and a nonlinear feedback control law is considered to increase the system’s damping ratio. This structure results in the simultaneous improvement of the steady-state accuracy and transient performance of time-delay nonholonomic systems. Asymptotic stability of the proposed feedback control approach is derived using a Lyapunov–Krasovskii functional aimed at reaching a compromise between system’s transient performance and asymptotic stability. Simulation and analytical results are considered to highlight the robustness and superior performance of the proposed approach in controlling high-order-time-delay nonholonomic systems with nonlinear disturbances.
Citation
Rasoolinasab, S., Mobayen, S., Fekih, A., Narayan, P., & Yao, Y. (2020). A composite feedback approach to stabilize nonholonomic systems with time varying time delays and nonlinear disturbances. ISA Transactions, 101, 177-188. https://doi.org/10.1016/j.isatra.2020.02.009
Journal Article Type | Article |
---|---|
Acceptance Date | Feb 6, 2020 |
Online Publication Date | Feb 11, 2020 |
Publication Date | 2020-06 |
Deposit Date | Mar 15, 2020 |
Publicly Available Date | Feb 12, 2021 |
Journal | ISA Transactions |
Print ISSN | 0019-0578 |
Publisher | Elsevier |
Peer Reviewed | Peer Reviewed |
Volume | 101 |
Pages | 177-188 |
DOI | https://doi.org/10.1016/j.isatra.2020.02.009 |
Keywords | Instrumentation; Electrical and Electronic Engineering; Applied Mathematics; Computer Science Applications; Composite nonlinear feedback; Nonholonomic systems; Time-delay; Nonlinear disturbances |
Public URL | https://uwe-repository.worktribe.com/output/5458888 |
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This is the author’s accepted manuscript. The published version can be found on the publishers website here: https://doi.org/10.1016/j.isatra.2020.02.009
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Copyright Statement
This is the author’s accepted manuscript. The published version can be found on the publishers website here: https://doi.org/10.1016/j.isatra.2020.02.009
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