Adaptive Stabilization of High Order Nonholonomic Systems with Nonlinear Parameterization

被引：0
|
作者：
Gao Fangzheng [1 ]
Yuan Fushun [1 ]
Yao Hejun [1 ]
机构：
[1] Anyang Normal Univ, Sch Math & Stat, Anyang 455000, Peoples R China
来源：
PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE | 2010年
关键词：
Adaptive; Nonholonomic Systems; Input-state-scaling; Nonlinear Parameterization; UNCERTAIN CHAINED SYSTEMS; EXPONENTIAL STABILIZATION; OUTPUT-FEEDBACK; DRIFTS;
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：
In this paper, an adaptive state feedback control strategy is presented for a class of high order nonholonomic systems in power chained form with strong nonlinear drifts and nonlinear parameterization. The robust adaptive control laws are developed using parameter separation, input-state-scaling and adding a power integrator backstepping technique. The adaptive control based switching strategy is proposed to overcome the uncontrollability problem associated with x(0)(t(0)) = 0. Global asymptotic regulation of the closed-loop system states is guaranteed.
引用
收藏
页码：347 / 351
页数：5
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