Adaptive global stabilization of nonholonomic systems with strong nonlinear drifts

被引：54

作者：

Do, Khac Duc ^{[1
]}

Pan, Jie ^{[1
]}

机构：

[1] Department of Mechanical and Materials Engineering, University of Western Australia, WA 6009, Australia

来源：

Systems and Control Letters | 2002年 / 46卷 / 03期

关键词：

Adaptive control systems - Computer simulation - Parameter estimation - State feedback - System stability;

D O I：

10.1016/S0167-6911(02)00133-0

中图分类号：

学科分类号：

摘要：

A new input-to-state scaling scheme is first introduced to transform a class of nonholonomic systems in a chained form with strong nonlinear drifts and unknown constant parameters into a strict feedback form. The backstepping technique is then applied to design a global adaptive stabilization controller. A switching strategy based on the control input magnitude rather than the time is derived to get around the phenomenon of uncontrollability. Simulation examples validate the effectiveness of the proposed controller. © 2002 Elsevier Science B.V. All rights reserved.

引用

页码：195 / 205