Stabilization of nonholonomic chained systems with input disturbances and nonlinear drifts
作者单位：Department of Electrical and Computer EngineeringNational University of Singapore
会议名称：《第二十一届中国控制会议》
会议日期：2002年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
关 键 词：adaptive control backstepping stabilization nonholonomic system
摘 要：This paper deals with nonholonomic control systems in chained form with input-driven uncertainties and nonlinear drifts with parametric uncertainties. Based on state scaling technique and the popular adaptive backstepping technique, systematic control design procedures are developed. The proposed stabilizing control laws can steer the system globally converge to the origin, and keep the estimated parameters bounded simultaneously. A switching control strategy is employed to overcome the uncontrollability caused by the zero initial condition of x0- subsystem.