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Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

Author

Listed:
  • Yuanyuan Wu
  • Zicheng Wang
  • Yuqiang Wu
  • Qingbo Li

Abstract

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.

Suggested Citation

  • Yuanyuan Wu & Zicheng Wang & Yuqiang Wu & Qingbo Li, 2014. "Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems," Abstract and Applied Analysis, John Wiley & Sons, vol. 2014(1).
    • Handle: RePEc:wly:jnlaaa:v:2014:y:2014:i:1:n:650835
    DOI: 10.1155/2014/650835
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    References listed on IDEAS

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    1. Fangzheng Gao & Fushun Yuan & Jian Zhang & Yuqiang Wu, 2013. "Further Result on Finite-Time Stabilization of Stochastic Nonholonomic Systems," Abstract and Applied Analysis, Hindawi, vol. 2013, pages 1-8, June.
    2. Fangzheng Gao & Fushun Yuan & Jian Zhang & Yuqiang Wu, 2013. "Further Result on Finite‐Time Stabilization of Stochastic Nonholonomic Systems," Abstract and Applied Analysis, John Wiley & Sons, vol. 2013(1).
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