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
  • [41] 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
  • [42] 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
  • [43] Adaptive stabilization for nonholonomic mobile robots with uncertain dynamics and unknown visual parameters
    Yang, Fang
    Wang, Chaoli
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2015, 37 (02) : 282 - 288
  • [44] Set stabilization of nonholonomic mobile robots
    Yang Tie
    Li Shihua
    PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 2, 2007, : 497 - +
  • [45] Global output feedback adaptive stabilization for systems with long uncertain input delay
    Zhuping WANG
    Jingcheng LIU
    Chao HUANG
    Hao ZHANG
    Huaicheng YAN
    Science China(Information Sciences), 2023, 66 (01) : 326 - 327
  • [46] Global output feedback adaptive stabilization for systems with long uncertain input delay
    Wang, Zhuping
    Liu, Jingcheng
    Huang, Chao
    Zhang, Hao
    Yan, Huaicheng
    SCIENCE CHINA-INFORMATION SCIENCES, 2023, 66 (01)
  • [47] Global stabilization via dynamic output feedback for a class of uncertain nonlinear systems
    Kong Zhi Li Lun Yu Ying Yong, 6 (830-835):
  • [48] GLOBAL STABILIZATION OF UNCERTAIN NONLINEAR TIME-DELAY SYSTEMS BY OUTPUT FEEDBACK
    Zhang, Chenghui
    Zhang, Xianfu
    Liu, Xinzhi
    DYNAMIC SYSTEMS AND APPLICATIONS, 2009, 18 (02): : 179 - 189
  • [49] Global output feedback adaptive stabilization for systems with long uncertain input delay
    Zhuping Wang
    Jingcheng Liu
    Chao Huang
    Hao Zhang
    Huaicheng Yan
    Science China Information Sciences, 2023, 66
  • [50] Global stabilization of uncertain nonlinear time-delay systems by output feedback
    Zhang, Xianfu
    Zhang, Chenghui
    Liu, Qingrong
    WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 843 - 847
12345