Adaptive H ∞ control of nonholonomic systems with strong nonlinear drifts
作者： Fushun Yuan , Hejun Yao , Fangzheng Gao
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摘要: In this paper, adaptive H1 control is considered for uncertain nonholonomic systems in chained form with external disturbances and strong nonlinear drifts. The state-scaling backstepping technique are applied to design the global controller a switching strategy developed eliminate phenomenon of uncontrollability. proposed guarantees effect from disturbance system output sense L 2 gain arbitrarily small. Without presence disturbance, states asymptotically regulated origin. An simulation example shows effectiveness schemes.
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