Adaptive output feedback control for uncertain nonholonomic chained systems

被引：0
作者：
Zhan-ping Yuan
Zhu-ping Wang
Qi-jun Chen
机构：
[1] Tongji University,Department of Electronics and Information Engineering
[2] Tongji University,Key Laboratory of Embedded System and Service Computing, Ministry of Education
来源：
Journal of Central South University of Technology | 2010年 / 17卷
关键词：
adaptive output feedback; input-state scaling; backstepping; nonholonomic system;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.
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页码：572 / 579
页数：7
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