Journal ArticleDOI
Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts
Yungang Liu,Ji-Feng Zhang +1 more
TLDR
In this article, the problem of output-feedback adaptive stabilization control design for nonholonomic chained systems with strong non-linear drifts was investigated, including modelled nonlinear dynamics, unmodelled dynamics, and those modelled but with unknown parameters.Abstract:
This paper investigates the problem of output-feedback adaptive stabilization control design for non-holonomic chained systems with strong non-linear drifts, including modelled non-linear dynamics, unmodelled dynamics, and those modelled but with unknown parameters. An observer and an estimator are introduced for state and parameter estimates, respectively. By using the integrator backstepping approach and based on the observer and parameter estimator, a constructive design procedure for output-feedback adaptive stabilization control is given. It is shown that, under some conditions, the control design ensures the closed-loop system is globally asymptotically stable when there is no non-linear drift in the first subsystem, and semiglobally asymptotically stable, otherwise. An example is given to show the effectiveness of the theory.read more
Citations
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Journal ArticleDOI
Adaptive output feedback control of stochastic nonholonomic systems with nonlinear parameterization
TL;DR: An adaptive control method is utilized, together with a parameter separation technique, to construct an adaptive output feedback controller to regulate the whole systems of nonlinearly parameterized stochastic nonholonomic systems.
Journal ArticleDOI
Adaptive output feedback stabilization for nonholonomic systems with strong nonlinear drifts
Xiuyun Zheng,Yuqiang Wu +1 more
TL;DR: In this article, an output feedback adaptive stabilization controller for a nonholonomic chained system with strong nonlinear drifts, including modeled nonlinear dynamics, unmodeled dynamics, and dynamics modeled with unknown parameters is investigated.
Journal ArticleDOI
Robust adaptive control for nonholonomic systems with nonlinear parameterization
TL;DR: In this article, an adaptive controller is designed for a class of nonholonomic systems in chained form with nonlinear parameterization and robust adaptive control law is developed using parameter separation, state scaling and backstepping technique.
Journal ArticleDOI
Finite-time state-feedback stabilisation of non-holonomic systems with low-order non-linearities
TL;DR: In this paper, a state-feedback controller for nonholonomic closed-loop systems with low-order non-linearities is proposed, which guarantees that the states of closed loop systems are regulated to zero in a finite time.
Journal ArticleDOI
Global asymptotic stability controller of uncertain nonholonomic systems
Yuqiang Wu,Yan Zhao,Jiangbo Yu +2 more
TL;DR: A new nonlinear switching law employing the full states feedback is constructed, which renders the origin to be a solution of the closed-loop system, and the finite time escape phenomenon is avoided.
References
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Journal ArticleDOI
Developments in nonholonomic control problems
Ilya Kolmanovsky,N.H. McClamroch +1 more
TL;DR: Nonholonomic control systems as discussed by the authors provide a good introduction to the subject for nonspecialists in the field, while perhaps providing specialists with a better perspective of the field as a whole.
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Control and stabilization of nonholonomic dynamic systems
TL;DR: In this article, a class of inherently nonlinear control problems arising directly from physical assumptions about constraints on the motion of a mechanical system is identified and a general procedure for constructing a piecewise analytic state feedback which achieves the desired result is suggested.
Journal ArticleDOI
Discontinuous control of nonholonomic systems
TL;DR: In this article, the problem of local asymptotic stabilization for a class of discontinuous nonholonomic control systems via discontinuous control is addressed and solved from a new point of view.
Journal ArticleDOI
A recursive technique for tracking control of nonholonomic systems in chained form
Zhong-Ping Jiang,Henk Nijmeijer +1 more
TL;DR: A recursive technique is proposed which appears to be an extension of the currently popular integrator backstepping idea to the tracking of nonholonomic control systems.
Journal ArticleDOI
A switching algorithm for global exponential stabilization of uncertain chained systems
TL;DR: A novel switching control strategy is proposed involving the use of input/state scaling and integrator backstepping and the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms is proposed.
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