Control of nonholonomic systems with nonlinear unmeasured dynamics by output feedback

作     者：Yan ZHAO Yuqiang WU 

作者机构：School of Automation Southeast University Institute of Automation Qufu Normal University 

出 版 物：《控制理论与应用（英文版）》 (Journal of Control Theory and Applications)

年 卷 期：2013年第11卷第3期

页      面：504-512页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by the National Natural Science Foundation of China (Nos. 60974127, 61273091) the Natural Science Foundation of Shandong Province (No. ZR2011FM033) the Innovation Program of Graduate Students of Jiangsu Province (No. CXLX12 0097) 

主　　题：Output feedback Switching control High order Unmeasured states 

摘      要：This paper studies the problem of output feedback stabilization for a class of more general nonholonomic systems whose nonlinear drifts are polynomially bounded by high-order terms of unmeasured states. An output feedback controller is obtained applying the backstepping approach and the dual observer method. The homogenous theory is also utilized in the recursive process. Together with a switching control scheme, the designed controller guarantees that the closed-loop system is output feedback globally asymptotically stabilized and the states converge to zero asymptotically. A simulation example is provided to illustrate the validness of the proposed approach.