Output Feedback Control for Uncertain Nonholonomic Systems in Chained Form

Author

Wang, Qiangde ; Wei, Chunling

Author_Institution

Inst. of Autom., Qufu Normal Univ.

Volume

1

fYear

0

fDate

0-0 0

Firstpage

795

Lastpage

799

Abstract

The problems of almost asymptotic stabilization and global asymptotic regulation (GAR) are considered by using output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-variable output feedback controller, which can universally stabilizes a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller

Keywords

asymptotic stability; feedback; linear systems; time-varying systems; uncertain systems; asymptotic stabilization; global asymptotic regulation; linear time-variable output feedback controller; nonsmooth coordinates change; uncertain nonholonomic system; Automatic control; Automation; Control system synthesis; Control systems; Linear feedback control systems; Nonlinear control systems; Output feedback; State feedback; Time varying systems; Vehicle dynamics; Uncertain nonholonomic systems; nonsmooth change of coordinates; output feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1712452

Filename

1712452