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Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems.
- Source :
-
Abstract & Applied Analysis . 2014, p1-17. 17p. - Publication Year :
- 2014
-
Abstract
- This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively . A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and back stepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 10853375
- Database :
- Academic Search Index
- Journal :
- Abstract & Applied Analysis
- Publication Type :
- Academic Journal
- Accession number :
- 100533743
- Full Text :
- https://doi.org/10.1155/2014/650835