Output feedback stabilization for nonholonomic systems with unknown unmeasured states‐dependent growth

2020 ◽  
Vol 30 (5) ◽  
pp. 1788-1801 ◽  
Author(s):  
Jiangbo Yu ◽  
Yungang Liu ◽  
Yuqiang Wu
Keyword(s):  
Output Feedback ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Output Feedback Stabilization ◽  
Dependent Growth

scholarly journals Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Yanling Shang ◽  
Ye Yuan ◽  
Fushun Yuan
Keyword(s):  
Output Feedback ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Nonlinear Parameterization ◽  
Output Feedback Stabilization ◽  
Backstepping Approach ◽  
Nonlinearly Parameterized ◽  
System States ◽  
Parameter Separation

This paper investigates the problem of adaptive output feedback stabilization for a class of nonholonomic systems with nonlinear parameterization and strong nonlinear drifts. A parameter separation technique is introduced to transform nonlinearly parameterized system into a linear-like parameterized system. Then, by using the integrator backstepping approach based on observer and parameter estimator, a constructive design procedure for output feedback adaptive control is given. And a switching strategy is developed to eliminate the phenomenon of uncontrollability. It is shown that, under some conditions, the proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded. An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme.

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

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Baojian Du ◽  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Closed Loop ◽  
Output Feedback Control ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Closed Loop System ◽  
Output Feedback Stabilization ◽  
Switching Control Strategy

This paper investigates the problem of global finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. By using backstepping recursive technique and the homogeneous domination approach, a constructive 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 regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.

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