Output feedback stabilization of nonholonomic systems with nonlinear unmeasured dynamics
会议名称：《第三十一届中国控制会议》
会议日期：2012年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0701[理学-数学] 071101[理学-系统理论] 0811[工学-控制科学与工程]
基 金：supported by the National Natural Science Foundation (NNSF) of China(No60974127) the key project of Education Ministry of China(No208074) the Natural Science Foundation of Shandong Province(NoZR2011FM033) the Innovation Program of Graduate Students of Jiangsu Province
关 键 词：Output feedback Switching control High order Unmeasured states
摘 要：正This paper studies the problem of output feedback stabilization for a class of more general nonholonomic systems whose nonlinear drifts are polynomially bounded by linear terms and high order terms of unmeasured *** output feedback controller is obtained applying the backstepping approach and the dual observer *** homogenous theory is also utilized in the recursive *** 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.