A composite feedback approach to stabilize nonholonomic systems with time varying time delays and nonlinear disturbances

Somayieh Rasoolinasab; Saleh Mobayen; Afef Fekih; Pritesh Narayan; Yufeng Yao

doi:10.1016/j.isatra.2020.02.009

A composite feedback approach to stabilize nonholonomic systems with time varying time delays and nonlinear disturbances

ISA Trans. 2020 Jun:101:177-188. doi: 10.1016/j.isatra.2020.02.009. Epub 2020 Feb 11.

Authors

Somayieh Rasoolinasab¹, Saleh Mobayen², Afef Fekih³, Pritesh Narayan⁴, Yufeng Yao⁴

Affiliations

¹ Advanced Control Systems Laboratory, Department of Electrical Engineering, Faculty of Engineering, University of Zanjan, Zanjan 3879145371, Iran.
² Advanced Control Systems Laboratory, Department of Electrical Engineering, Faculty of Engineering, University of Zanjan, Zanjan 3879145371, Iran; Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan, R.O.C.. Electronic address: mobayen@znu.ac.ir.
³ Electrical and Computer Engineering Department, University of Louisiana at Lafayette, P.O. Box 43890, Lafayette, LA 70504, USA.
⁴ Department of Engineering Design and Mathematics, University of the West of England, Bristol, BS16 1QY, UK.

PMID: 32061354
DOI: 10.1016/j.isatra.2020.02.009

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.

Keywords: Composite nonlinear feedback; Nonholonomic systems; Nonlinear disturbances; Time-delay.