Output feedback Stabilization of Nonholonomic Systems with Unknown Time Delays
This paper presents the design of an output feedback stabilization controller for nonholonomic control systems with strongly nonlinear uncertainties and unknown time delays. By constructing a novel Lyapunov functional, the uncertainties of unknown time delays are compensated for. Based on the proposed observer, state scaling technique and backstepping recursive approach are applied to design a nonlinear output 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.
Nonholonomic systems Time delay Stabilization State scaling Backstepping
Yuanyuan Wu Zhihua Diao Yuqiang Wu
College of Electric and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 4 Research Institute of Automation,Qufu Normal University, Qufu 273165, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
625-630
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）