Abstract
This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method.
Highlights
The control and feedback stabilization problems of nonholonomic systems have been widely studied by many researchers
For system (1), under Assumptions 1–3, if the control strategies (23) and (58) are applied with an appropriate choice of the design parameters, the global asymptotic stabilization of the closed loop system is achieved for x0(t0) ≠ 0
For system (1), under Assumptions 1–3, if above switching control strategy is applied with an appropriate choice of the design parameters, the closed-loop system is globally asymptotic regulated at the origin for x0(t0) = 0
Summary
The control and feedback stabilization problems of nonholonomic systems have been widely studied by many researchers. There have been a number of controller design approaches [8–25] for such chained nonholonomic systems. Adaptive control strategies have been proposed to stabilize the nonholonomic systems. The problem of adaptive state-feedback control is studied in [15–19], while output feedback controller design in [20–24]. The problem of state feedback stabilization is studied for the delayed nonholonomic systems in [25, 26]. An iterative controller design method will be proposed for the output feedback adaptive stabilization of the concerned delayed nonholomic systems. We study a class of chained nonholonomic systems with strong nonlinear drifts, and the problem of adaptive output-feedback stabilization for the concerned nonholonomic systems is investigated.
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