Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties

Dianguo Cao, Jiaqian Chen and Antonio M. Lopes

Mathematical Problems in Engineering, 2021, vol. 2021, 1-15

Abstract: This study investigates the global output feedback stabilization problem for one type of the nonholonomic system with nonvanishing external disturbances. An extended state observer (ESO) is constructed in order to estimate the external disturbance and unmeasurable system states, in which the external disturbance term is seen as a general state. Thus, a new generalized error dynamic system is obtained. Accordingly, a disturbance rejection controller is designed by making use of the backstepping technique. A control law is given to ensure that all the signals in the closed-loop system are globally bounded, while the system states converge to an equilibrium point. The simulation example is proposed to verify that the control algorithm is effective.

Date: 2021
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/mpe/9941611.pdf (application/pdf)
http://downloads.hindawi.com/journals/mpe/9941611.xml (application/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:9941611

DOI: 10.1155/2021/9941611

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().