Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization

作者：Shang, Yanling^*; Yuan, Ye; Yuan, Fushun

来源：Abstract and Applied Analysis, 2014, 2014: 623605.

DOI：10.1155/2014/623605

• UNCERTAIN CHAINED SYSTEMS
• EXPONENTIAL STABILIZATION
• DRIFTS
• DESIGN
• FORM

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.

• 出版日期2014
• 单位安阳师范学院; 苏州科技大学