Global output feedback stabilization of uncertain nonholonomic systems with applications to mobile robots

被引：0
|
作者：
Bhupathiraju, S [1 ]
Qian, C [1 ]
Rogers, AC [1 ]
机构：
[1] Univ Texas, Dept Elect Engn, San Antonio, TX 79249 USA
来源：
PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL | 2003年
关键词：
global stabilization; output feedback control; finite time observer; uncertain nonhollonomic systems;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers the problem of global stabilization by output feedback for a class of uncertain nonholonomic systems. By combining the output feedback domination design [10] and nonsmooth change of coordinates [1] together, we explicitly construct a simple output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The effectiveness of the proposed approach is illustrated by solving the output feedback stabilization for wheeled mobile robots.
引用
收藏
页码：490 / 495
页数：6
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