The output feedback control for uncertain nonholonomic systems

被引：1
作者：
Qiangde Wang
Chunling Wei
Siying Zhang
机构：
[1] Qufu Normal University,Institute of Automation
[2] Southeast University,Institute of Automation
[3] Northeastern University,School of Information Science and engineering
来源：
Journal of Control Theory and Applications | 2006年 / 4卷 / 2期
关键词：
Uncertain nonholonomic systems; Output feedback; Nonsmooth change of coordinates;
D O I：
10.1007/s11768-006-4245-x
中图分类号：
学科分类号：
摘要：
This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation (GAR) by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.
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页码：128 / 132
页数：4
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