Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems
This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear ou...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
|
| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2014/650835 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method. |
|---|---|
| ISSN: | 1085-3375 1687-0409 |