2025/04/09 by Kang-Kang Zhang, Kang‐Kang Zhang, Xuefei Yang +1 · 1 citation
Engineering · Computer Science · #Control and Dynamics of Mobile Robots #Robotic Locomotion and Control #Robotic Path Planning Algorithms
paper · doi:10.1016/j.automatica.2025.112307
This paper investigates the smooth finite-dimensional time-varying control problem for chained nonholonomic systems with distributed input delays. For the scalar distributed delay system, a smooth finite-dimensional nonhomogeneous controller is proposed. By using a smooth time-varying state transformation, a chained nonholonomic system with distributed input delay is transformed into a linear time-varying system with a distributed input delay. With the aid of the inherent structural properties of chained nonholonomic system, smooth finite-dimensional linear time-varying controllers are constructed. Unlike traditional predictor feedback, which involves infinite-dimensional terms, the proposed controllers are finite-dimensional and easier to implement. By utilizing Barbalat’s lemma, it is shown that the proposed control laws can drive the states to zero. Both state feedback and observer-based output feedback are considered. The effectiveness of the proposed methods is verified through a numerical example.