DocumentCode
294995
Title
Backstepping-based adaptive controllers for uncertain nonholonomic systems
Author
Jiang, Z.-P. ; Pomet, J.-B.
Author_Institution
Dept. of Syst. Eng., Australian Nat. Univ., ACT, Australia
Volume
2
fYear
1995
fDate
13-15 Dec 1995
Firstpage
1573
Abstract
This paper presents an application of the integrator backstepping method to a linearly parametrized class of multi-input nonholonomic systems. A globally stabilizing adaptive time-varying controller is designed. An extension to cover a nonlinearly parametrized class is also considered by means of the classical speed-gradient methodology
Keywords
adaptive control; asymptotic stability; multivariable systems; nonlinear systems; time-varying systems; uncertain systems; adaptive controllers; asymptotic stability; integrator backstepping method; mechanical nonholonomic systems; multi-input nonholonomic systems; speed-gradient methodology; time-varying controller; uncertain nonholonomic systems; Adaptive control; Adaptive systems; Australia; Backstepping; Control systems; Government; Nonlinear control systems; Programmable control; Robustness; State feedback;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.480362
Filename
480362
Link To Document