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.
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页码：195 / 205
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