Adaptive output feedback asymptotic stabilization of nonholonomic systems with uncertainties

作者：Ju Guiling^*; Wu Yuqiang; Sun Weihai

来源：Nonlinear Analysis-Theory Methods & Applications, 2009, 71(11): 5106-5117.

DOI：10.1016/j.na.2009.03.088

• Input-state scaling
• Integrator back-stepping
• Switching control strategy
• Global asymptotic stabilization
• Tuning function technique

A global adaptive output feedback control strategy is presented for a class of nonholonomic systems in generalized chained form with drift nonlinearity and unknown virtual control parameters. The purpose is to design a nonlinear output feedback switching controller such that the closed-loop system is globally asymptotically stable. By using the input-state scaling technique and an integrator back-stepping approach, an output feedback controller is given. A filter of observer gain is introduced for state and parameter estimates. Meanwhile, in order to avoid the over-parameters, a tuning function technique is utilized. A novel switching control strategy based on the output measurement of the first subsystem rather than time is used to overcome the uncontrollability of the x(0)-subsystem in the origin. The proposed controller can guarantee that all the system states globally converge to the origin, while other signals maintain bounded. The numerical simulation testifies the effectiveness.

• 出版日期2009-12-1
• 单位曲阜师范大学; 中国人民解放军装甲兵工程学院