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Partial-state Feedback Stabilization for a Class of Generalized Nonholonomic Systems with ISS Dynamic Uncertainties.
- Source :
- International Journal of Control, Automation & Systems; Feb2018, Vol. 16 Issue 1, p79-86, 8p
- Publication Year :
- 2018
-
Abstract
- In this paper, the problem of global stabilization control via partial-state feedback is addressed for a class of uncertain nonholonomic systems with the disturbed virtual control directions. The investigated nonholonomic system has the input-to-state stable (ISS) dynamic uncertainties. The small gain theorem and the changing supply function technique are employed to derive a global stabilization controller. Additionally, we develop a switching control strategy in order to get around the smooth stabilization burden associated with nonholonomic systems. The simulation results illustrate the efficacy of the presented algorithm. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 15986446
- Volume :
- 16
- Issue :
- 1
- Database :
- Complementary Index
- Journal :
- International Journal of Control, Automation & Systems
- Publication Type :
- Academic Journal
- Accession number :
- 128402817
- Full Text :
- https://doi.org/10.1007/s12555-016-0653-y