Adaptive Output Feedback Control for Nonholonomic Chained Systems with Integral Input State Stability Inverse Dynamics

被引：0
|
作者：
Li, Yang [1 ]
Xu, Linxing [2 ]
Wang, Xiuli [3 ]
Wang, Cunsong [4 ]
机构：
[1] Shanghai Univ, Shanghai Key Lab Power Stn Automat Technol, Shanghai 200444, Peoples R China
[2] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China
[3] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou 310023, Peoples R China
[4] Nanjing Tech Univ, Inst Intelligent Mfg, Nanjing 210006, Peoples R China
来源：
SENSORS | 2023年 / 23卷 / 14期
基金：
美国国家科学基金会; 中国博士后科学基金;
关键词：
nonholonomic chained system; iISS inverse dynamics; input-state scaling; backstepping; switching control; reduced-order observer; STABILIZATION; ISS;
D O I：
10.3390/s23146351
中图分类号：
O65 [分析化学];
学科分类号：
070302 ; 081704 ;
摘要：
This paper investigates a class of nonholonomic chained systems with integral input-to-state stable (iISS) inverse dynamics subject to unknown virtual control directions and parameter uncertainty included in drift terms. First, the system is divided into two interconnected subsystems according to the system's structure. Second, one controller is designed using a switch strategy for state finite escape. Then, another controller and adaptive law are designed by combining a reduced-order state observer and backstepping method after input-state scaling. Finally, simulation results validate the feasibility of the proposed control algorithm.
引用
收藏
页数：15
相关论文
共 50 条
  • [1] Adaptive output feedback control for uncertain nonholonomic chained systems
    Yuan Zhan-ping
    Wang Zhu-ping
    Chen Qi-jun
    JOURNAL OF CENTRAL SOUTH UNIVERSITY OF TECHNOLOGY, 2010, 17 (03): : 572 - 579
  • [2] Adaptive output feedback control for uncertain nonholonomic chained systems
    袁占平
    王祝萍
    陈启军
    Journal of Central South University, 2010, 17 (03) : 572 - 579
  • [3] Adaptive output feedback control for uncertain nonholonomic chained systems
    Zhan-ping Yuan
    Zhu-ping Wang
    Qi-jun Chen
    Journal of Central South University of Technology, 2010, 17 : 572 - 579
  • [4] Adaptive state feedback control of output-constrained stochastic nonlinear systems with stochastic integral input-to-state stability inverse dynamics
    Xie, Ruiming
    Xu, Shengyuan
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2024, 34 (02) : 1096 - 1119
  • [5] Adaptive output feedback control for nonholonomic systems with uncertain chained form
    Wu, Yuqiang
    Ju, Guiling
    Zheng, Xiuyun
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2010, 41 (12) : 1537 - 1547
  • [6] Output feedback adaptive control of systems with input and state unmodeled dynamics
    Zhang, Tian-Ping
    Chen, Jia-Sheng
    Xia, Xiao-Nan
    Kongzhi yu Juece/Control and Decision, 2015, 30 (10): : 1847 - 1853
  • [7] Output feedback control for uncertain nonholonomic systems in chained form
    Wang, Qiangde
    Wei, Chunling
    WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 795 - 799
  • [8] STABILIZATION OF UNCERTAIN CHAINED NONHOLONOMIC SYSTEMS USING ADAPTIVE OUTPUT FEEDBACK
    Yuan, Z. P.
    Wang, Z. P.
    Chen, Q. J.
    ASIAN JOURNAL OF CONTROL, 2009, 11 (06) : 620 - 632
  • [9] Output Feedback Stabilization of Uncertain Nonholonomic Chained Systems
    Wang, Zhuping
    Yuan, Zhanping
    Chen, Qijun
    ENGINEERING SOLUTIONS FOR MANUFACTURING PROCESSES, PTS 1-3, 2013, 655-657 : 1354 - 1360
  • [10] Adaptive Output Regulation for General Output Feedback Nonlinear Systems with Integral ISS Inverse Dynamics
    Xu, Dabo
    Huang, Jie
    Jiang, Zhong-Ping
    2013 9TH ASIAN CONTROL CONFERENCE (ASCC), 2013,
12345