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Global Finite-time Stabilization for a Class of Switched Nonlinear Systems via Output Feedback
Junyong Zhai,Zhibao Song 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
This paper addresses the problem of global finite-time stabilization for a class of uncertain switched nonlinearsystems via output feedback under arbitrary switchings. Based on the adding a power integrator approach, wedesign a homogeneous observer and controller for the nominal switched system without the perturbing nonlinearities. Then, a scaling gain is introduced into the proposed output feedback stabilizer to implement global finite-timestability of the closed-loop system. In addition, the proposed approach can be also extended to a class of switchednonlinear systems with upper-triangular growth condition. Two examples are given to illustrate the effectiveness ofthe proposed method.
Wenting Zha,Junyong Zhai,Shumin Fei 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3
This paper addresses the global adaptive control problem for a class of uncertain stochastic nonlinearsystems in the output-feedback form. Due to the unknown output gain, we construct a full-order homogeneousobserver instead of using the system output. Then, by adding a power integrator technique, an output-feedbackcontroller is designed, as well as an adaptive law to deal with the unknown nonlinear growth rates. Based on thegeneralized stochastic Lyapunov stability theorem, it can be proved that all the signals of the closed-loop systemare bounded in probability, and the system states converge to the origin almost surely.
Yan Jiang,Junyong Zhai 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
In this paper, we study the global practical output tracking problem for a class of switched nonlinearsystems via sampled-data output feedback control. Both the input signal and the output signal are quantized forthe sake of less communication burden. The Filippov solution and differential inclusion are adopted to analyzethe resulting discontinuous system. Accordingly, an observer is designed to estimate the unmeasurable states atthe sampling points. Then, a linear sampled-data output feedback controller is designed with a proper choice ofthe sampling period, the quantization parameter and the design parameters. Finally, a numerical example and apractical example are presented to verify the effectiveness of the proposed scheme.
A Trajectory Tracking Method for Wheeled Mobile Robots Based on Disturbance Observer
Shuai Wang,Junyong Zhai 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.8
In this article, an adaptive tracking control method is proposed for wheeled mobile robots (WMR). In thetrajectory tracking control of WMR, skidding and slipping are taken into account, and the slip degree parameters areintroduced. The disturbance observer is designed to estimate the total disturbances. Then, we design the adaptivecontroller to guarantee that the tracking errors asymptotically converge to zero, the stability of the system is provedby Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposedscheme.
Manman Yuan,Junyong Zhai 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1
This paper discusses the problem of event-triggered output feedback control for a class of switched stochastic nonlinear systems with unknown output gain. By introducing a dynamic gain into the system, a controller is designed under event-triggering mechanism. It can be shown that all signals of the closed-loop system are bounded in probability. In addition, the Zeno behavior is excluded. An example is provided to verify the effectiveness of the proposed method.