DocumentCode :
2240163
Title :
Global stabilization for uncertain nonholonomic systems with partial inputs saturation
Author :
Fangzheng, Gao ; Yuqiang, Wu ; Fushun, Yuan
Author_Institution :
School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, P.R. China
fYear :
2015
fDate :
28-30 July 2015
Firstpage :
517
Lastpage :
521
Abstract :
This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of closed-loop system are globally asymptotically regulated to zero. A simulation example is provided to illustrate the effectiveness of the proposed approach.
Keywords :
Backstepping; Closed loop systems; Control design; Mobile robots; State feedback; Switches; Backstepping; Global stabilization; Nonholonomic systems; Partial inputs saturation; State feedback;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
Type :
conf
DOI :
10.1109/ChiCC.2015.7259688
Filename :
7259688
Link To Document :
بازگشت