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.

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 Adaptive Stabilization for Nonholonomic Systems with Unknown Time Delays

2013 ◽  
Vol 2013 ◽  
pp. 1-14
Author(s):  
Yuanyuan Wu ◽  
Qingbo Li ◽  
Yuqiang Wu
Keyword(s):  
Time Delays ◽  
State Feedback ◽  
Nonholonomic Systems ◽  
Adaptive Stabilization ◽  
Closed Loop Systems ◽  
Nonlinear Uncertainties ◽  
Adaptive Control Strategy ◽  
Unknown Time Delays ◽  
Nonlinear State ◽  
Control Coefficients

This paper presents an adaptive control strategy for a class of nonholonomic systems in chained form with virtual control coefficients, nonlinear uncertainties, and unknown time delays. State scaling technique and backstepping recursive approach are applied to design a nonlinear state feedback controller, which can guarantee the stabilization of the closed-loop systems. The simulation results are provided to show the effectiveness of the proposed method.

scholarly journals Adaptive Exponential Stabilization for a Class of Stochastic Nonholonomic Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Xiaoyan Qin
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Nonholonomic Systems ◽  
Input State ◽  
Stabilization Problem ◽  
Adaptive Stabilization ◽  
Closed Loop System ◽  
Scaling Technique ◽  
Switching Strategy ◽  
Parameter Separation

This paper investigates the adaptive stabilization problem for a class of stochastic nonholonomic systems with strong drifts. By using input-state-scaling technique, backstepping recursive approach, and a parameter separation technique, we design an adaptive state feedback controller. Based on the switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller can guarantee that the states of closed-loop system are global bounded in probability.

Output Feedback Admissible Control for Singular Systems: Delta Operator (Discretised) Approach

2017 ◽  
Vol 7 (2) ◽  
pp. 248-268
Author(s):  
Xin-zhuang Dong ◽  
Mingqing Xiao
Keyword(s):  
Output Feedback ◽  
Admissible Control ◽  
Controller Design ◽  
Singular Systems ◽  
Design Procedure ◽  
Operator Method ◽  
Continuous System ◽  
Linear Matrix ◽  
Delta Operator ◽  
Practical Applications

AbstractSingular systems simultaneously capture the dynamics and algebraic constraints in many practical applications. Output feedback admissible control for singular systems through a delta operator method is considered in this article. Two novel admissibility conditions, derived for the singular delta operator system (SDOS) from a singular continuous system through sampling, can not only produce unified admissibility for both continuous and discrete singular systems but also practical procedures. To solve the problem of output feedback admissible control for the SDOS, an existence condition and design procedure is given for the determination of a physically realisable observer for the state estimation, and then a suitable state-feedback-like admissible controller design based on the observer is developed. All of the conditions presented are necessary and sufficient, involving strict linear matrix inequalities (LMI) with feasible solutions obtained with low computational costs. Numerical examples illustrate our approach.

scholarly journals Global Asymptotic Stabilization Control for a Class of Nonlinear Systems with Dynamic Uncertainties

2015 ◽  
Vol 2015 ◽  
pp. 1-12
Author(s):  
Jiangbo Yu ◽  
Jizhong Wang ◽  
Zhongcai Zhang
Keyword(s):  
Nonlinear Systems ◽  
Controller Design ◽  
Initial Conditions ◽  
Design Procedure ◽  
Control Law ◽  
Asymptotic Stabilization ◽  
Control Approach ◽  
Global Asymptotic Stabilization ◽  
Stabilization Control ◽  
Dynamic Uncertainties

This paper is concerned with the global asymptotic stabilization control problem for a class of nonlinear systems with input-to-state stable (ISS) dynamic uncertainties and uncertain time-varying control coefficients. Unlike the existing works, the ISS dynamic uncertainty is characterized by the uncertain supply rates. By using the backstepping control approach, a systematic controller design procedure is developed. The designed control law can guarantee that the system states are asymptotically regulated to the origin from any initial conditions and the other signals are bounded in closed-loop systems. Moreover, it is shown that, under some additional conditions, a linear control law can be designed by the proposed methodology. The simulation example demonstrates its effectiveness.

scholarly journals Robust Decentralized Adaptive Neural Control for a Class of Nonaffine Nonlinear Large-Scale Systems with Unknown Dead Zones

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Huanqing Wang ◽  
Qi Zhou ◽  
Xuebo Yang ◽  
Hamid Reza Karimi
Keyword(s):  
Neural Control ◽  
Large Scale ◽  
Controller Design ◽  
Dead Zone ◽  
Design Procedure ◽  
Rbf Neural Networks ◽  
Large Scale Systems ◽  
Dead Zones ◽  
Stabilization Control ◽  
Control Scheme

The problem of robust decentralized adaptive neural stabilization control is investigated for a class of nonaffine nonlinear interconnected large-scale systems with unknown dead zones. In the controller design procedure, radical basis function (RBF) neural networks are applied to approximate packaged unknown nonlinearities and then an adaptive neural decentralized controller is systematically derived without requiring any information on the boundedness of dead zone parameters (slopes and break points). It is proven that the developed control scheme can ensure that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded in the sense of mean square. Simulation study is provided to further demonstrate the effectiveness of the developed control 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.

scholarly journals Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Mobile Robot ◽  
Finite Time ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Finite Time Stability ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Finite Time Stabilization ◽  
System States

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated withx0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.

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