OUTPUT-FEEDBACK CONTROL FOR NONHOLONOMIC SYSTEMS WITH LINEAR GROWTH CONDITION

作     者：Guiling JU Weihai SUN Yuqiang WU 

作者机构：Department of Mathematics Armored Force Engineering Institute Beijing 100072 China. Institute of Automation Qufu Normal University Qufu 273165 China 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2011年第24卷第5期

页      面：862-874页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：This research is supported by the National Natural Science Foundation of China under Grant No. 60974127 

主　　题：Backstepping global asymptotic stabilization input-state scaling nonholonomic systemwith uncertainties switching control strategy. 

摘      要：This paper deals with the stabilization of the nonholonomic systems with strongly nonlinear uncertainties. The objective is to design an output feedback law such that the closed-loop system is globally asymptotically regulated at the origin. The systematic strategy combines the input-state scaling technique with the backstepping technique. A novel switching control strategy based on the output measurement of the first subsystem is employed to make the subsystem far away from the origin. The simulation demonstrates the effectiveness of the proposed controller.