Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping

Yasir Awais Butt; Aamer Iqbal Bhatti

doi:10.1109/ICET.2016.7813215

Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping

Yasir Awais Butt, Aamer Iqbal Bhatti

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

We consider stabilization problem for n-dimensional kinematic nonholonomic systems with m-inputs. The control objective in exponential stabilization is to force the system states x Rⁿ from an arbitrary initial state x₀ to origin with a finite convergence rate γ. We employ adaptive back stepping to stabilize the nonholonomic system. Adaptive back stepping seeks to stabilize n system states in n + r dimensional manifold with r being the number of adaptation parameters. Using this approach, desired performance and robustness properties of the feedback control system can be guaranteed. The effectiveness of the proposed algorithm is established by applying it on a unicycle type system moving on hyperbolic plane. Simulation results confirm the mathematical developments.

Original language	English
Title of host publication	ICET 2016 - 2016 International Conference on Emerging Technologies
Editors	Ghulam Mustafa, Sufi Tabassum Gul, Shahzad Nadeem
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509035519
DOIs	https://doi.org/10.1109/ICET.2016.7813215
State	Published - 10 Jan 2017
Externally published	Yes

Publication series

Name	ICET 2016 - 2016 International Conference on Emerging Technologies

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

Adaptive Backstepping
Exponential Stabilization
Nonholonomic Systems

ASJC Scopus subject areas

Computer Networks and Communications
General Engineering
Control and Optimization
Instrumentation

Access to Document

10.1109/ICET.2016.7813215

Cite this

Butt, Y. A., & Bhatti, A. I. (2017). Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping. In G. Mustafa, S. T. Gul, & S. Nadeem (Eds.), ICET 2016 - 2016 International Conference on Emerging Technologies Article 7813215 (ICET 2016 - 2016 International Conference on Emerging Technologies). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICET.2016.7813215

Butt, Yasir Awais ; Bhatti, Aamer Iqbal. / Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping. ICET 2016 - 2016 International Conference on Emerging Technologies. editor / Ghulam Mustafa ; Sufi Tabassum Gul ; Shahzad Nadeem. Institute of Electrical and Electronics Engineers Inc., 2017. (ICET 2016 - 2016 International Conference on Emerging Technologies).

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abstract = "We consider stabilization problem for n-dimensional kinematic nonholonomic systems with m-inputs. The control objective in exponential stabilization is to force the system states x Rn from an arbitrary initial state x0 to origin with a finite convergence rate γ. We employ adaptive back stepping to stabilize the nonholonomic system. Adaptive back stepping seeks to stabilize n system states in n + r dimensional manifold with r being the number of adaptation parameters. Using this approach, desired performance and robustness properties of the feedback control system can be guaranteed. The effectiveness of the proposed algorithm is established by applying it on a unicycle type system moving on hyperbolic plane. Simulation results confirm the mathematical developments.",

keywords = "Adaptive Backstepping, Exponential Stabilization, Nonholonomic Systems",

author = "Butt, \{Yasir Awais\} and Bhatti, \{Aamer Iqbal\}",

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year = "2017",

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doi = "10.1109/ICET.2016.7813215",

language = "English",

series = "ICET 2016 - 2016 International Conference on Emerging Technologies",

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Butt, YA & Bhatti, AI 2017, Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping. in G Mustafa, ST Gul & S Nadeem (eds), ICET 2016 - 2016 International Conference on Emerging Technologies., 7813215, ICET 2016 - 2016 International Conference on Emerging Technologies, Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/ICET.2016.7813215

Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping. / Butt, Yasir Awais; Bhatti, Aamer Iqbal.
ICET 2016 - 2016 International Conference on Emerging Technologies. ed. / Ghulam Mustafa; Sufi Tabassum Gul; Shahzad Nadeem. Institute of Electrical and Electronics Engineers Inc., 2017. 7813215 (ICET 2016 - 2016 International Conference on Emerging Technologies).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping

AU - Butt, Yasir Awais

AU - Bhatti, Aamer Iqbal

PY - 2017/1/10

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N2 - We consider stabilization problem for n-dimensional kinematic nonholonomic systems with m-inputs. The control objective in exponential stabilization is to force the system states x Rn from an arbitrary initial state x0 to origin with a finite convergence rate γ. We employ adaptive back stepping to stabilize the nonholonomic system. Adaptive back stepping seeks to stabilize n system states in n + r dimensional manifold with r being the number of adaptation parameters. Using this approach, desired performance and robustness properties of the feedback control system can be guaranteed. The effectiveness of the proposed algorithm is established by applying it on a unicycle type system moving on hyperbolic plane. Simulation results confirm the mathematical developments.

AB - We consider stabilization problem for n-dimensional kinematic nonholonomic systems with m-inputs. The control objective in exponential stabilization is to force the system states x Rn from an arbitrary initial state x0 to origin with a finite convergence rate γ. We employ adaptive back stepping to stabilize the nonholonomic system. Adaptive back stepping seeks to stabilize n system states in n + r dimensional manifold with r being the number of adaptation parameters. Using this approach, desired performance and robustness properties of the feedback control system can be guaranteed. The effectiveness of the proposed algorithm is established by applying it on a unicycle type system moving on hyperbolic plane. Simulation results confirm the mathematical developments.

KW - Adaptive Backstepping

KW - Exponential Stabilization

KW - Nonholonomic Systems

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DO - 10.1109/ICET.2016.7813215

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T3 - ICET 2016 - 2016 International Conference on Emerging Technologies

BT - ICET 2016 - 2016 International Conference on Emerging Technologies

A2 - Mustafa, Ghulam

A2 - Gul, Sufi Tabassum

A2 - Nadeem, Shahzad

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Butt YA, Bhatti AI. Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping. In Mustafa G, Gul ST, Nadeem S, editors, ICET 2016 - 2016 International Conference on Emerging Technologies. Institute of Electrical and Electronics Engineers Inc. 2017. 7813215. (ICET 2016 - 2016 International Conference on Emerging Technologies). doi: 10.1109/ICET.2016.7813215

Exponential stabilization of kinematic nonholonomic systems using adaptive backstepping

Abstract

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Bibliographical note

Keywords

ASJC Scopus subject areas

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