Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts

2005 ◽  
Vol 78 (7) ◽  
pp. 474-490 ◽  
Author(s):  
Yun-Gang Liu ◽  
Ji-Feng Zhang *
Keyword(s):  
Output Feedback ◽  
Control Design ◽  
Adaptive Stabilization ◽  
Stabilization Control ◽  
Holonomic Systems ◽  
Non Linear

scholarly journals Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-17
Author(s):  
Yuanyuan Wu ◽  
Zicheng Wang ◽  
Yuqiang Wu ◽  
Qingbo Li
Keyword(s):  
Output Feedback ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Input State ◽  
Adaptive Stabilization ◽  
Closed Loop Systems ◽  
Stabilization Control ◽  
Parameter Separation ◽  
Unknown Time Delays

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.

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