Robust stabilization of delayed nonholonomic systems with strong nonlinear drifts

被引：24

作者：

Wu, Yuanyuan ^{[1
]}

Wu, Yugiang ^{[2
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

[2] Qufu Normal Univ, Res Inst Automat, Qufu 273165, Shandong, Peoples R China

来源：

NONLINEAR ANALYSIS-REAL WORLD APPLICATIONS | 2010年 / 11卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Nonholonomic systems; State delay; Robust stabilization; Discontinuous transformation; Dynamic feedback; Switching controller; OUTPUT-FEEDBACK; EXPONENTIAL STABILIZATION; ADAPTIVE STABILIZATION; CONTROL DESIGN;

D O I：

10.1016/j.nonrwa.2010.01.008

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

This paper presents a control strategy for stabilization of nonholonomic control systems with strongly nonlinear uncertainties and time delay. By applying a novel Lyapunov functional, discontinuous transformation and dynamic feedback approach, robust nonlinear state feedback switching controllers are designed, which can guarantee the stabilization of closed loop systems. The proposed method proves to be effective by a simulation example. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：3620 / 3627

页数：8

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