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Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization
Joint Authors
Shang, Yanling
Yuan, Ye
Yuan, Fushun
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-12
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper investigates the problem of adaptive output feedback stabilization for a class of nonholonomic systems with nonlinear parameterization and strong nonlinear drifts.
A parameter separation technique is introduced to transform nonlinearly parameterized system into a linear-like parameterized system.
Then, by using the integrator backstepping approach based on observer and parameter estimator, a constructive design procedure for output feedback adaptive control is given.
And a switching strategy is developed to eliminate the phenomenon of uncontrollability.
It is shown that, under some conditions, the proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded.
An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme.
American Psychological Association (APA)
Shang, Yanling& Yuan, Ye& Yuan, Fushun. 2014. Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization. Abstract and Applied Analysis،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1033879
Modern Language Association (MLA)
Shang, Yanling…[et al.]. Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization. Abstract and Applied Analysis No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-1033879
American Medical Association (AMA)
Shang, Yanling& Yuan, Ye& Yuan, Fushun. Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization. Abstract and Applied Analysis. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1033879
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1033879