A Learning Controller for Periodic Disturbance Rejection of Uncertain Nonholonomic Systems

被引：0

作者：

Liu, Li ^{[1
]}

Zhao, Yan ^{[2
]}

Yu, Jiangbo ^{[2
]}

Wang, Chunxiao ^{[2
]}

Yu, Xiao ^{[2
]}

机构：

[1] Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Peoples R China

[2] Shandong Jianzhu Univ, Sch Sci, Jinan 250101, Peoples R China

来源：

2024 3RD CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, FASTA 2024 | 2024年

基金：

中国国家自然科学基金;

关键词：

Nonholonomic systems; Input-to-state stable (ISS); Iterative learning control (ILC); Periodic disturbance; Dynamic uncertainty; NONLINEAR-SYSTEMS; DESIGNS;

D O I：

10.1109/FASTA61401.2024.10595384

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A learning control approach is developed to tackle the robust stabilization problem for a class of chained-form non-holonomic systems with dynamic uncertainty and nonlinear parameterization. Different from the existing results, the additive periodic perturbations are allowed in the input channel, and a learning-based feedforward term is incorporated into the composite controller against unknown periodic dynamics with a known period. Moreover, a switching adaptive control strategy is constructed to get around the smooth stabilization burden associated with the nonholonomic systems due to Brockett's necessary condition. Numerical simulation results are presented to illustrate the performance of the proposed algorithm.

引用

页码：1129 / 1133

页数：5

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