Robust Stabilization of Nonholonomic Systems with Unknown Time Delays

摘要：

This paper presents a control strategy for stabilization of the nonholonomic control systems with strongly nonlinear uncertainties and unknown time delays.By constructing appropriate Lyapunov functional,the uncertainties of unknown time delays are compensated for.State scaling technique and backstepping recursive approach are applied to design the robust non-linear state feedback switching controllers,which can guarantee the stabilization of the closed loop systems.Simulation results are provided to show the effectiveness of the proposed method.

作者: WU Yuanyuan DIAO Zhihua WU Yuqiang

作者单位: College of Electric and Information Engineering,Zhengzhou University of Light Industry,Zhengzhou 450 Research Institute of Automation,Qufu Normal University,Qufu 273165,P.R.China

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-6

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）