Semi-global finite-time stabilization of uncertain nonholonomic systems via output feedback

被引：15

作者：

Gao, Fangzheng ^{[1
,2
]}

Wu, Yuqiang ^{[3
]}

Yuan, Fushun ^{[2
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

[2] Anyang Normal Univ, Sch Math & Stat, Anyang, Peoples R China

[3] Qufu Normal Univ, Inst Automat, Qufu, Peoples R China

来源：

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2015年 / 37卷 / 01期

关键词：

Nonholonomic systems; output feedback; homogeneous domination approach; semi-global; finite-time stabilization; EXPONENTIAL STABILIZATION; ADAPTIVE STABILIZATION; DESIGN;

D O I：

10.1177/0142331214535018

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 investigates the problem of semi-global finite-time stabilization by output feedback for a class of nonholonomic systems with both high-order and low-order nonlinearities. By using the homogeneous domination approach, a constructive design procedure for output feedback control is given. Together with a switching control scheme, the designed controller renders that the states of a closed-loop system are semi-globally regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.

引用

页码：122 / 130

页数：9

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