Global output feedback stabilization of uncertain nonholonomic systems with applications to mobile robots

被引：0
|
作者：
Bhupathiraju, S [1 ]
Qian, C [1 ]
Rogers, AC [1 ]
机构：
[1] Univ Texas, Dept Elect Engn, San Antonio, TX 79249 USA
来源：
PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL | 2003年
关键词：
global stabilization; output feedback control; finite time observer; uncertain nonhollonomic systems;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers the problem of global stabilization by output feedback for a class of uncertain nonholonomic systems. By combining the output feedback domination design [10] and nonsmooth change of coordinates [1] together, we explicitly construct a simple output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The effectiveness of the proposed approach is illustrated by solving the output feedback stabilization for wheeled mobile robots.
引用
收藏
页码：490 / 495
页数：6
相关论文
共 50 条
  • [31] Further results on global stabilization of uncertain nonlinear systems by output feedback
    Yang, B
    Lin, W
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2005, 15 (06) : 247 - 268
  • [32] Output Feedback Asymptotic Stabilization of Nonholonomic Systems with Uncertainties
    Zhang, Xianfu
    Zhang, Chenghui
    Wang, Yuzheng
    2013 IEEE 3RD ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL AND INTELLIGENT SYSTEMS (CYBER), 2013, : 42 - 47
  • [33] Global output feedback stabilization for uncertain nonlinear systems with output dependent incremental rate
    Chen, ZY
    Huang, J
    PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2004, : 3047 - 3052
  • [34] Robust State Feedback Stabilization for Nonholonomic Mobile Robots with Stochastic Disturbances
    Gao, Fangzheng
    Shang, Yanling
    INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS & STATISTICS, 2013, 40 (10): : 259 - 268
  • [35] Robust state feedback stabilization for nonholonomic mobile robots with stochastic disturbances
    Gao, Fangzheng
    Shang, Yanling
    International Journal of Applied Mathematics and Statistics, 2013, 40 (10): : 259 - 268
  • [36] On output feedback stabilization of uncertain chained systems
    Xi, ZR
    Feng, G
    Jiang, ZP
    Cheng, DZ
    2004 8TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1-3, 2004, : 1182 - 1187
  • [37] Dynamic output feedback stabilization of uncertain systems
    Chen, Pengnian
    Han, Zhengzhi
    Zhang, Zhongjun
    Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, 1996, 30 (11): : 62 - 66
  • [38] 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
  • [39] 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
  • [40] Global Output-Feedback Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robots
    Chang, J.
    Zhang, L. J.
    Xue, D.
    PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON APPLIED MECHANICS, MECHATRONICS AND INTELLIGENT SYSTEMS (AMMIS2015), 2016, : 450 - 462
12345