Finite-time stability of cascaded time-varying systems
Finite-time stability of cascaded time-varying systems
复制标题
级联时变系统的有限时间稳定性
DOI：
10.1080/00207170601148291
复制
发表时间：
2007-04-01
影响因子：
2.1
通讯作者：
Tian, Y. -P.
中科院分区：
文献类型：
--
作者：
Li, S.;Tian, Y. -P.
讨论了由两个一致有限时间稳定子系统组成的级联时变系统的一致全局有限时间稳定性。证明了前向完全性条件足以保证系统的一致全局有限时间稳定性。为了便于参考，还推导了具有生长速率条件的特定结果。将这些稳定性结果应用于非完整轮式移动的机器人运动学模型的跟踪控制问题。针对两种不同的期望转速情况，分别设计了两种跟踪控制律。这两种控制律都是连续的，可以控制移动的机器人在有限时间内跟踪期望的轨迹。仿真结果表明了该方法的有效性。
The uniform global finite-time stability is discussed for a cascaded time-varying system consisting of two uniformly finite-time stable subsystems. It is shown that a forward completeness condition is enough to ensure the uniform global finite-time stability of the system. For ease of reference, a particular result with a growth rate condition is also deduced. These stability results are applied to the tracking control problem of a non-holonomic wheeled mobile robot in kinematic model. Two tracking control laws are developed respectively for two different cases of the desired rotate velocity. Both control laws are continuous and can control the mobile robot to track the desired trajectory in finite time. Simulation results are provided to show the effectiveness of the method.