Adaptive exponential regulation of nonlinearly parameterized chained form systems

Author

Yuan, Fushun ; Gao, Fangzheng ; Yao, Hejun

Author_Institution

Sch. of Math. & Stat., Anyang Normal Univ., Anyang, China

fYear

2011

fDate

23-25 May 2011

Firstpage

240

Lastpage

245

Abstract

This paper deals with nonholonomic systems in chained form with nonlinear parameterization. The objective is to design adaptive nonlinear state feedback laws such that the closed-loop systems are globally exponentially regulated at the origin, while the estimated parameters remain bounded. The systematic strategy combines the parameter separation, input-state-scaling technique and integrator backstepping procedure. The efficiency and feasibility of the proposed method are demonstrated by practical example.

Keywords

adaptive control; closed loop systems; nonlinear control systems; parameter estimation; state feedback; adaptive exponential regulation; adaptive nonlinear state feedback laws; closed-loop systems; estimated parameters; globally exponentially regulated system; input-state-scaling technique; integrator backstepping procedure; nonholonomic systems; nonlinear parameterization; nonlinearly parameterized chained form systems; parameter separation; systematic strategy; Adaptive control; Backstepping; Lyapunov methods; State feedback; Switches; Chained form systems; Global exponential regulation; Input-state-scaling; Nonlinear parameterization;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2011 Chinese

Conference_Location

Mianyang

Print_ISBN

978-1-4244-8737-0

Type

conf

DOI

10.1109/CCDC.2011.5968179

Filename

5968179