Disturbance attenuation of uncertain nonholonomic systems in chained forms

被引：0

作者：

Guo, Yi ^{[1
]}

机构：

[1] Stevens Inst Technol, Dept Elect & Comp Engn, Hoboken, NJ 07030 USA

来源：

WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS | 2006年

关键词：

nonlinear control; nonholonomic systems; backstepping; disturbance attenuation; L-2; gain;

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：

Nonlinear H. control is considered for uncertain nonholonomic systems with external disturbances in their chained form kinematic models. State feedback controllers are explicitly constructed to guarantee an L-2 gain performance from the disturbance to the system output. Without the presence of the disturbance, the system states are regulated to the origin. Recent results in robust and adaptive control of uncertain nonholonomic systems are extended to include external disturbance inputs. An simulation example shows the effectiveness of the proposed control schemes.

引用

页码：403 / 407

页数：5

共 50 条

[31] Output feedback stabilization of uncertain nonholonomic systems with external disturbances via active disturbance rejection control [J].

Huang, Yao ;

Su, Jianbo .

ISA TRANSACTIONS, 2020, 104 (104) :245-254

[32] Global normal forms for MIMO nonlinear systems, with applications to stabilization and disturbance attenuation [J].

Schwartz, B ;

Isidori, A ;

Tarn, TJ .

MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS, 1999, 12 (02) :121-142

[33] Disturbance Attenuation Property for a Class of Uncertain Discrete-time Linear Switching Systems [J].

Fan Guowei ;

Liu Zhiyuan ;

Chen Hong .

PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, :1470-1475

[34] Adaptive stabilization of uncertain nonholonomic mechanical systems [J].

Colbaugh, R ;

Barany, E ;

Glass, K .

ROBOTICA, 1998, 16 :181-192

[35] Output feedback exponential stabilization of uncertain chained systems [J].

Xi, Zairong ;

Feng, Gang ;

Jiang, Z. P. ;

Cheng, Daizhan .

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2007, 344 (01) :36-57

[36] Design of Disturbance Rejection Controller for Nonholonomic Systems with Certain Growth Constraints [J].

Chen Jiaqian ;

Cao Dianguo ;

Wu Yuqiang .

PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021), 2021, :4536-4541

[37] Event-triggered tracking control for a class of nonholonomic systems in chained form [J].

Xu, Liang ;

Su, Youfeng ;

Cai, He .

SCIENCE CHINA-INFORMATION SCIENCES, 2023, 66 (07)

[38] Finite-Time Discontinuous Control of Nonholonomic Chained-Form Systems [J].

Zhu, Wenwu ;

Yu, Xinghuo ;

Li, Shihua ;

Du, Haibo .

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2023, 70 (06) :2001-2005

[39] ADAPTIVE CONTROL OF UNCERTAIN NONHOLONOMIC SYSTEMS IN FINITE TIME [J].

Wang, Jiankui ;

Zhang, Guoshan ;

Li, Hongyi .

KYBERNETIKA, 2009, 45 (05) :809-824

[40] Adaptive stabilization of uncertain nonholonomic systems by output feedback [J].

ZHeng, Xiuyun ;

Wu, Yuqiang .

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, :876-881

← 1 2 3 4 5 →