Controller design of high order nonholonomic system with nonlinear drifts

被引：11

作者：

Zheng X.-Y. ^{[1
]}

Wu Y.-Q. ^{[1
]}

机构：

[1] Research Institute of Automation, Qufu Normal University

来源：

International Journal of Automation and Computing | 2009年 / 6卷 / 3期

基金：

中国国家自然科学基金;

关键词：

Adding a power integrator backstepping; Globally asymptotic stability; Nonholonomic systems;

D O I：

10.1007/s11633-009-0240-2

中图分类号：

学科分类号：

摘要：

A controller design is proposed for a class of high order nonholonomic systems with nonlinear drifts. The purpose is to ensure a solution for the closed-loop system regulated to zero. Adding a power integrator backstepping technique and the switching control strategy are employed to design the controller. The state scaling is applied to the recursive manipulation. The simulation example demonstrates the effectiveness and robust features of the proposed method. © Institute of Automation, Chinese Academy of Sciences and Springer-Verlag GmbH, 2009.

引用

页码：240 / 244

页数：4

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