Open Access
2014 Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems
Yuanyuan Wu, Zicheng Wang, Yuqiang Wu, Qingbo Li
Abstr. Appl. Anal. 2014(SI63): 1-17 (2014). DOI: 10.1155/2014/650835


This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method.


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Yuanyuan Wu. Zicheng Wang. Yuqiang Wu. Qingbo Li. "Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems." Abstr. Appl. Anal. 2014 (SI63) 1 - 17, 2014.


Published: 2014
First available in Project Euclid: 6 October 2014

zbMATH: 07022830
MathSciNet: MR3212442
Digital Object Identifier: 10.1155/2014/650835

Rights: Copyright © 2014 Hindawi

Vol.2014 • No. SI63 • 2014
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