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
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;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480362
