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.
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页数：15
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