Adaptive Robust Control of Nonholonomic Systems Using a Switching Approach
This paper investigates the problem of robust adaptive control for a class of nonholonomic systems in chained form with strong nonlinear drifts and unknown nonlinear parameters. Combining the parameter separation technique with the feedback domination design, a solution to the problem of global-adaptive control for the uncertain nonholonomic systems is obtained and a switching strategy is developed to eliminate the terms of uncontrollability. The presented adaptive control algorithm guarantees that all the states converge to the origin and other variables are bounded.
Adaptive robust control nonholonomic systems strong nonlinear drifts global-adaptive stabilization
Zhang Junfeng Wang Ruili Bi Weiping
College of Mathematics and Information Science, Henan Normal University, 453007 Xinxiang Jiyuan Vocational and Technical College, 454650 Jiyuan
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
1144-1149
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）