Output feedback stabilization of nonholonomic systems with nonlinear unmeasured dynamics

摘要：

This paper studies the problem of output feedback stabilization for a class of more general nonholonomic systems whose nonlinear drifts are polynomially bounded by linear terms and high order terms of unmeasured states. An output feedback controller is obtained applying the backstepping approach and the dual observer method. The homogenous theory is also utilized in the recursive process. Together with a switching control scheme, the designed controller guarantees that the closed-loop system is output feedback globally asymptotically stabilized and the states converge to zero asymptotically. A simulation example is provided to illustrate the validness of the proposed approach.

关键词： Output feedback Switching control High order Unmeasured states

作者: ZHAO Yan WU Yuqiang

作者单位: School of Automation, Southeast University, Nanjing 210096, P. R. China Institute of Automation, Qufu Normal University, Qufu 273165, P. R. China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 818-823

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）