Title :
Stabilizing control design for high-order nonholonomic system with unknown control direction
Author :
Xiuyun Zheng ; Meijuan Ma
Author_Institution :
Inst. of Inf. & Control Eng., Weifang Univ., Weifang, China
Abstract :
A controller design is proposed for a class of high order nonholonomic systems with unknown control direction. The purpose is to ensure a solution for the closed-loop system regulated to zero. Adding a power integrator backstepping technique and the switching control strategy are employed to design the controller. The state scaling is applied to the recursive manipulation. The simulation example demonstrates the effectiveness and robust features of the proposed method.
Keywords :
closed loop systems; control nonlinearities; control system synthesis; mobile robots; nonlinear control systems; stability; time-varying systems; closed-loop system; controller design; high-order nonholonomic system; power integrator backstepping technique; recursive manipulation; stabilizing control design; state scaling; switching control strategy; unknown control direction; Automation; Backstepping; Control design; Control engineering; Lyapunov methods; Switches; Nonholonomic systems; backsteping approach; high-order; unknown control direction;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7052730