Adaptive output feedback control for uncertain nonholonomic chained systems |
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Authors: | Zhan-ping Yuan Zhu-ping Wang Qi-jun Chen |
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Affiliation: | [1]Department of Electronics and Information Engineering, Tongji University, Shanghai 201804, China [2]Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University, Shanghai 201804, China |
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Abstract: | An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers. |
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Keywords: | adaptive output feedback input-state scaling backstepping nonholonomic system |
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