Abstract
This study investigates the global output feedback stabilization problem for one type of the nonholonomic system with nonvanishing external disturbances. An extended state observer (ESO) is constructed in order to estimate the external disturbance and unmeasurable system states, in which the external disturbance term is seen as a general state. Thus, a new generalized error dynamic system is obtained. Accordingly, a disturbance rejection controller is designed by making use of the backstepping technique. A control law is given to ensure that all the signals in the closed-loop system are globally bounded, while the system states converge to an equilibrium point. The simulation example is proposed to verify that the control algorithm is effective.
Highlights
Within recent decades, the control of nonholonomic systems has always been one of the most popular tasks in control fields since such systems can be frequently found in mechanical systems, for example, car-like vehicles, wheeled mobile robots, knife-edge, and so on
By using an input/state scaling technique and switching algorithm, a class of feedback control law was obtained for nonholonomic chained systems with uncertainties to realize exponential stabilization [6, 7], and a switching-based state scaling is designed for prescribed-time stabilization of nonholonomic systems with actuator dead-zones [8]
In order to overcome the external disturbances, the robust tracking control for the wheeled mobile robot is proposed based on the extended state observer (ESO) [13, 14]
Summary
The control of nonholonomic systems has always been one of the most popular tasks in control fields since such systems can be frequently found in mechanical systems, for example, car-like vehicles, wheeled mobile robots, knife-edge, and so on. In [17,18,19,20], the adaptive output feedback global stabilization of a class of nonholonomic systems with parametric uncertainties and strong nonlinear drifts are solved. To reject the external disturbances, an Mathematical Problems in Engineering output feedback controller has been proposed for nonholonomic systems with nonlinear uncertainties [21] and nonvanishing external disturbances [22,23,24]. By utilizing the so-called ESO, [25] further investigated the output regulation control problem towards one type of cascade nonlinear systems with the external disturbance, and the output feedback adaptive regulation problem was solved by the time-varying Kalman observer [25]. By using the ESO, this study addresses robust output feedback adaptive control towards one type of nonholonomic chained form systems that have nonvanishing external disturbances in the input channel and uncertain nonlinearity drift. In order overcome unknown system states and the external disturbance, we reconstruct the system state, and the disturbance is regarded as an extended state. e ESO with dynamic gain is put forward, and the disturbance rejection controller based on an observer is developed by designing a variable observer gain to overcome the uncertainty. e controller design is carried out for one type of the nonholonomic system with nonvanishing external disturbances and uncertain nonlinearities satisfying a linearly growing triangular condition. is approach allows the external disturbances to be a larger class of signals
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