Robust global asymptotic stability of uncertain nonholonomic systems with strong nonlinear drifts
作者： Yan Zhao , Yuqiang Wu
DOI:
关键词: Nonlinear system 、 Backstepping 、 Integrator 、 Control theory 、 Control theory 、 Exponential stability 、 Nonholonomic system 、 Robust control 、 Mathematics 、 Robustness (computer science)
摘要: The robust stability is investigated for nonholonomic control systems in generalized chained form with strong nonlinear uncertainties. In order to make the origin be a solution of closed-loop system and prevent finite time escape phenomenon from happening, new switching law proposed so that global asymptotic analysis can dealt discontinuous system. recursive integrator backstepping technique applied design controller. simulation example demonstrates effectiveness features method.
参考文章(15)
S.S. Ge, Zhuping Wang, T.H. Lee, Brief Adaptive stabilization of uncertain nonholonomic systems by state and output feedback Automatica. ,vol. 39, pp. 1451- 1460 ,(2003) , 10.1016/S0005-1098(03)00119-5
Yu-Ping Tian, Shihua Li, Brief Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control Automatica. ,vol. 38, pp. 1139- 1146 ,(2002) , 10.1016/S0005-1098(01)00303-X
Khac Duc Do, Jie Pan, Adaptive global stabilization of nonholonomic systems with strong nonlinear drifts Systems & Control Letters. ,vol. 46, pp. 195- 205 ,(2002) , 10.1016/S0167-6911(02)00133-0
Zhong-Ping Jiang, Robust exponential regulation of nonholonomic systems with uncertainties Automatica. ,vol. 36, pp. 189- 209 ,(2000) , 10.1016/S0005-1098(99)00115-6
WL Xu, W Huo, None, Variable structure exponential stabilization of chained systems based on the extended nonholonomic integrator Systems & Control Letters. ,vol. 41, pp. 225- 235 ,(2000) , 10.1016/S0167-6911(00)00057-8
A.M. Bloch, M. Reyhanoglu, N.H. McClamroch, Control and stabilization of nonholonomic dynamic systems IEEE Transactions on Automatic Control. ,vol. 37, pp. 1746- 1757 ,(1992) , 10.1109/9.173144
O.J. Sordalen, O. Egeland, Exponential stabilization of nonholonomic chained systems IEEE Transactions on Automatic Control. ,vol. 40, pp. 35- 49 ,(1995) , 10.1109/9.362901
Zhong-Ping Jiang, H. Nijmeijer, A recursive technique for tracking control of nonholonomic systems in chained form IEEE Transactions on Automatic Control. ,vol. 44, pp. 265- 279 ,(1999) , 10.1109/9.746253
R.T. M'Closkey, R.M. Murray, Exponential stabilization of driftless nonlinear control systems using homogeneous feedback IEEE Transactions on Automatic Control. ,vol. 42, pp. 614- 628 ,(1997) , 10.1109/9.580865
C. Samson, K. Ait-Abderrahim, Feedback control of a nonholonomic wheeled cart in Cartesian space international conference on robotics and automation. pp. 1136- 1141 ,(1991) , 10.1109/ROBOT.1991.131748