Adaptive stabilization of High-order Nonholonomic Systems with Unknown Control Coef cients
This paper solves the problem of globally stabilizing adaptive control design for a class of high-order nonholonomic systems,by skillfully using the discontinuous transformation of coordinates and the method of adding a power integrator.Com-pared with the existing literature,the control coef cients of the systems are unknown and no known constants can (lower and upper)bound them,and in the designed adaptive controller,only one updating law is needed to dynamically compensate the unknowns in the system control coef cients.A numerical simulation is provided to demonstrate the validness of the proposed method.
ZHANG Jian LIU Yungang
School of Control Science and Engineering,Shandong University,Jinan 250061,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）