Adaptive Stabilization for Nonholonomic Systems with Unknown Time Delays

被引：0

作者：

Wu, Yuanyuan ^{[1
,2
]}

Li, Qingbo ^{[3
]}

Wu, Yuqiang ^{[4
]}

机构：

[1] Zhengzhou Univ Light Ind, Coll Elect & Informat Engn, Zhengzhou 450002, Henan, Peoples R China

[2] Southeast Univ, Dept Math, Nanjing 210096, Jiangsu, Peoples R China

[3] Zhengzhou Univ Light Ind, Dept Math & Informat Sci, Zhengzhou 450002, Henan, Peoples R China

[4] Qufu Normal Univ, Res Inst Automat, Qufu 273165, Shandong, Peoples R China

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2013年 / 2013卷

关键词：

EXPONENTIAL STABILIZATION; CONTROL DESIGN;

D O I：

10.1155/2013/520390

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents an adaptive control strategy for a class of nonholonomic systems in chained form with virtual control coefficients, nonlinear uncertainties, and unknown time delays. State scaling technique and backstepping recursive approach are applied to design a nonlinear state feedback controller, which can guarantee the stabilization of the closed-loop systems. The simulation results are provided to show the effectiveness of the proposed method.

引用

页数：14

共 25 条

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