Adaptive Output Feedback Control of Nonholonomic Systems with Strong Nonlinear Drifts

被引：0
|
作者：
Yuan, Z. P. [1 ]
Wang, Z. P. [1 ]
Chen, Q. J. [1 ]
机构：
[1] Tongji Univ, Coll Elect & Informat Engn, Shanghai 200092, Peoples R China
来源：
PROCEEDINGS OF THE 2009 WRI GLOBAL CONGRESS ON INTELLIGENT SYSTEMS, VOL II | 2009年
关键词：
CHAINED SYSTEMS; EXPONENTIAL STABILIZATION; FORM;
D O I：
10.1109/GCIS.2009.173
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, adaptive output feedback control strategy is proposed to deal with a class of nonholonomic systems in chained form with strongly nonlinear disturbances and uncertain parameters using output signals only. The objective is to design adaptive nonlinear output feedback laws such that the closed-loop systems are globally asymptotically stable, while the estimated parameters remain bounded. The systematic strategy combines the input-state-scaling and backstepping procedure. The simulation results demonstrate the effectiveness of the proposed controllers.
引用
收藏
页码：199 / 203
页数：5
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