Adaptive Exponential Regulation of Nonlinearly Parameterized Chained Form Systems
This paper deals with nonholonomic systems in chained form with nonlinear parameterization. The objective is to design adaptive nonlinear state feedback laws such that the closed-loop systems are globally exponentially regulated at the origin, while the estimated parameters remain bounded. The systematic strategy combines the parameter separation, inputstate-scaling technique and integrator backstepping procedure. The ef.ciency and feasibility of the proposed method are demonstrated by practical example.
Chained form systems Nonlinear parameterization Input-state-scaling Global exponential regulation
Fushun Yuan Fangzheng Gao Hejun Yao
School of Mathematics and Statistics, Anyang Normal University, Anyang 455002, Henan Province P. R. China
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
240-245
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）