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 f...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.展开更多
This paper deals with the stabilization of the nonholonomic systems with strongly nonlinear uncertainties. The objective is to design an output feedback law such that the closed-loop system is globally asymptotically ...This paper deals with the stabilization of the nonholonomic systems with strongly nonlinear uncertainties. The objective is to design an output feedback law such that the closed-loop system is globally asymptotically regulated at the origin. The systematic strategy combines the input-state scaling technique with the backstepping technique. A novel switching control strategy based on the output measurement of the first subsystem is employed to make the subsystem far away from the origin. The simulation demonstrates the effectiveness of the proposed controller.展开更多
基金Project(60704005) supported by the National Natural Science Foundation of China Project(07ZR14119) supported by Natural Science Foundation of Shanghai Science and Technology Commission Project(2009AA04Z213) supported by the National High-Tech Research and Development Program of China
文摘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.
基金This research is supported by the National Natural Science Foundation of China under Grant No. 60974127.
文摘This paper deals with the stabilization of the nonholonomic systems with strongly nonlinear uncertainties. The objective is to design an output feedback law such that the closed-loop system is globally asymptotically regulated at the origin. The systematic strategy combines the input-state scaling technique with the backstepping technique. A novel switching control strategy based on the output measurement of the first subsystem is employed to make the subsystem far away from the origin. The simulation demonstrates the effectiveness of the proposed controller.
