Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

Yuanyuan Wu, Zicheng Wang, Yuqiang Wu and Qingbo Li

Abstract and Applied Analysis, 2014, vol. 2014, 1-17

Abstract:

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.

Date: 2014
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlaaa:650835

DOI: 10.1155/2014/650835

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