Adaptive stabilization of uncertain nonholonomic systems by output feedback-通过输出反馈对不确定非完整系统的自适应稳定.pdfVIP

J Control Theory Appl 2009 7 (4) 459–463 DOI 10.1007/s11768-009-7178-3 Adaptive stabilization of uncertain nonholonomic systems by output feedback Xiuyun ZHENG, Yuqiang WU (Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China) Abstract: The adaptive output feedback control strategy is presented for a class of nonholonomic systems in chained form with nonlinearity uncertainties. A new observer and a filter are introduced for the states and parameter estimation. The proposed control strategies guarantee the convergence of the closed-loop system. The simulation example demonstrates the efficiency of the proposed method. Keywords: Nonholonomic systems; Backstepping; Switching control strategy; Adaptive stabilization 1 Introduction measurable with a new filter and observer. The term “nonholonomic systems” originated from clas- sical mechanics and the widely accepted meaning is “La- 2 Class of systems and state scaling grange system with linear constraints being nonintegrable.” The following nonholonomic system is considered [13] There is an extensive list of research papers devoted to the ⎧ T x˙ = u + φ (x , u , x )θ, 0 0 0 0 1