КФУ. Карточка публикации. Function Approximation Technique Based Control for a Class of Nonholonomic Systems

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FUNCTION APPROXIMATION TECHNIQUE BASED CONTROL FOR A CLASS OF NONHOLONOMIC SYSTEMS

Форма представления

Тезисы и материалы конференций в зарубежных журналах и сборниках

Год публикации

2020

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Другие авторы

Bai Yang , автор

Svinin Mikhail , автор

Wang Yujie , автор

Библиографическое описание на языке оригинала

Bai Y., Wang Y., Svinin M., Magid E. Function Approximation Technique Based Control for a Class of Nonholonomic Systems. IEEE/SICE International Symposium on System Integration (Honolulu, Hawaii; 12-15 January 2020) - p. 283-288.

Аннотация

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration

Ключевые слова

control method, nonholonomic Systems

Название журнала

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration

URL

https://ieeexplore.ieee.org/document/9026292

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https://repository.kpfu.ru/?p_id=232650

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Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.contributor.author	Bai Yang	ru_RU
dc.contributor.author	Svinin Mikhail	ru_RU
dc.contributor.author	Wang Yujie	ru_RU
dc.date.accessioned	2020-01-01T00:00:00Z	ru_RU
dc.date.available	2020-01-01T00:00:00Z	ru_RU
dc.date.issued	2020	ru_RU
dc.identifier.citation	Bai Y., Wang Y., Svinin M., Magid E. Function Approximation Technique Based Control for a Class of Nonholonomic Systems. IEEE/SICE International Symposium on System Integration (Honolulu, Hawaii; 12-15 January 2020) - p. 283-288.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=232650	ru_RU
dc.description.abstract	Proceedings of the 2020 IEEE/SICE International Symposium on System Integration	ru_RU
dc.description.abstract	A generic control method is proposed for a class of nonholonomic systems. A nonholonomic system to be controlled is first restructured in form of the combination of a linear system and the variation from the original system. This variation term is treated as a time-varying uncertainty and the stabilization problem for a nonholonomic system is reformulated as an adaptive control problem for linear system with time-varying uncertainty. This adaptive control problem is addressed by applying the function approximation technique. Specifically, the variation is parameterized with a chosen basis function weighted by unknown constant parameters. An update law is defined such that the parameters of the weighted basis function can be automatically determined and the variation between the auxiliary linear system and the original nonholonomic system can then be eliminated. The stability is established for the closed loop system formulated by the nonholonomic system and the constructed controller. The feasibility of the proposed control method is verified under simulations for two typical nonholonomic systems: the unicycle system and the rolling ball system.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	control method	ru_RU
dc.subject	nonholonomic Systems	ru_RU
dc.title	Function Approximation Technique Based Control for a Class of Nonholonomic Systems	ru_RU
dc.type	Тезисы и материалы конференций в зарубежных журналах и сборниках	ru_RU