Robust adaptive control of nonholonomic systems with nonlinear parameterization

被引：0
作者：
College of Electricity Information and Automation, Qufu Normal University, Rizhao 272826, China [1 ]
不详 [2 ]
机构：
[1] College of Electricity Information and Automation, Qufu Normal University
[2] Institute of Automation, Southeast University
来源：
Zidonghua Xuebao | 2007年 / 4卷 / 399-403期
关键词：
Global-adaptive stabilization; Nonholonomic systems; Nonlinear drifts; Nonlinear parameterization; Robust adaptive control;
D O I：
10.1360/aas-007-0399
中图分类号：
学科分类号：
摘要：
A global-adaptive state feedback control strategy is presented for a class of nonholonomic systems in chained form with strong nonlinear drifts and unknown nonlinear parameters. A parameter separation technique is introduced to transform the nonlinear parameterization nonholonomic system into a linear-like parameterized nonholonomic system. Then, the feedback domination design is applied to design a global adaptive stabilization controller and a switching strategy is developed to eliminate the phenomenon of uncontrollability. The proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded. Simulation example demonstrates the effectiveness and the robust features of the proposed controller.
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页码：399 / 403
页数：4
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