Semi-Global Finite-Time Output Feedback Stabilization for a Class of Uncertain Nonholonomic Systems

被引：0
|
作者：
Gao, Fangzheng [1 ]
Yuan, Ye [2 ]
机构：
[1] Southeast Univ, Sch Automat, Nanjing, Jiangsu, Peoples R China
[2] Suzhou Univ Sci & Technol, Sch Math & Phys, Suzhou 215009, Peoples R China
来源：
2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年
关键词：
Nonholonomic systems; Output feedback; Homogeneous domination approach; Semi-global stabilization; EXPONENTIAL STABILIZATION; NONLINEAR-SYSTEMS; DESIGN;
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, the problem of semi-global finite-time stabilization by output feedback is investigated for a class of nonholonomic systems in chained form with uncertainties. By using the homogeneous domination approach, a constructive controller design procedure for output feedback control is given. Together with a novel switching control strategy, the designed controller renders that the states of closed-loop system are semi-globally regulated to zero in a finite time. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot. The simulation results demonstrate the validity of the presented algorithm.
引用
收藏
页码：290 / 295
页数：6
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