{"title":"Neuroadaptive Control of Nonholonomic Systems With Function Constraints: Theory and Experiment","authors":"Yang Gao, Zhongcai Zhang, Nan Jiang, Yuqiang Wu","doi":"10.1049/cth2.70011","DOIUrl":null,"url":null,"abstract":"<p>This article considers the stabilization control for a class of chained nonholonomic systems, which are subject to state constraints, external disturbances, and model uncertainties. The studied system is structured in a cascaded form with two subsystems, and the constraint boundaries are functions of both states and time. Then, a unified framework based on state transformations is investigated to implement the constraints on all subsystems. Meanwhile, the neural network technique is used to deal with the system uncertainties. Combined with backstepping method, an adaptive controller is designed to achieve the desired stabilization objectives. The proposed control method is applied to mobile robot systems, and the effectiveness is verified through simulation and experiment.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2000,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70011","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Control Theory and Applications","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/cth2.70011","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This article considers the stabilization control for a class of chained nonholonomic systems, which are subject to state constraints, external disturbances, and model uncertainties. The studied system is structured in a cascaded form with two subsystems, and the constraint boundaries are functions of both states and time. Then, a unified framework based on state transformations is investigated to implement the constraints on all subsystems. Meanwhile, the neural network technique is used to deal with the system uncertainties. Combined with backstepping method, an adaptive controller is designed to achieve the desired stabilization objectives. The proposed control method is applied to mobile robot systems, and the effectiveness is verified through simulation and experiment.
期刊介绍：
IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces.
Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed.
Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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