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

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.

• 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