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| The output feedback control for uncertain nonholonomic systems | |
| 引用本文： | Qiangde WANG,Chunling WEI,Siying ZHANG. The output feedback control for uncertain nonholonomic systems[J]. 控制理论与应用(英文版), 2006, 4(2): 128-132. DOI: 10.1007/s11768-006-4245-x |
| 作者姓名： | Qiangde WANG Chunling WEI Siying ZHANG |
| 作者单位： | [1]Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China [2]Institute of Automation, Southeast University, Nanjing Jiangsu 210096, China [3]School of Information Science and engineering, Northeastern University, Shenyang Liaoning 110004, China |
| 基金项目： | This work was supported by the National Natural Science Foundation of China（No.60304003, 60574007, 60574080）; Scholastic Youth Foundation of Qufu Normal University. |
| 摘 要： | This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation （GAR） by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller. |
| 关 键 词： | 非完整系统 输出反馈控制 非光滑模式 稳定性 |
| 收稿时间： | 2004-12-08 |
| 修稿时间： | 2006-01-26 |
The output feedback control for uncertain nonholonomic systems |
|
| Qiangde WANG,Chunling WEI,Siying ZHANG. The output feedback control for uncertain nonholonomic systems[J]. Journal of Control Theory and Applications, 2006, 4(2): 128-132. DOI: 10.1007/s11768-006-4245-x | |
| Authors: | Qiangde WANG Chunling WEI Siying ZHANG |
| Affiliation: | 1. Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China 2. Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China;Institute of Automation, Southeast University, Nanjing Jiangsu 210096, China 3. School of Information Science and engineering, Northeastern University, Shenyang Liaoning 110004, China |
| Abstract: | This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation (GAR) by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller. |
| Keywords: | Uncertain nonholonomic systems Output feedback Nonsmooth change of coordinates |
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