Robust adaptive control for nonholonomic systems with nonlinear parameterization

Robust adaptive control for nonholonomic systems with nonlinear parameterization

In this paper, an adaptive controller is designed for a class of nonholonomic systems in chained form with nonlinear parameterization. The robust adaptive control law is developed using parameter separation, state scaling and backstepping technique. Global asymptotic regulation of the closed-loop sy...

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Veröffentlicht in:Nonlinear analysis: real world applications 2010-08, Vol.11 (4), p.3242-3250
Hauptverfasser: Gao, Fangzheng, Yuan, Fushun, Yao, Hejun
Format: Artikel
Sprache:eng
Schlagworte:
Adaptive
Adaptive control
Adaptive control systems
Asymptotic properties
Control
Control systems
Nonholonomic systems
Nonlinear parameterization
Nonlinearity
Parametrization
State scaling
Strategy
Switching
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Zusammenfassung:In this paper, an adaptive controller is designed for a class of nonholonomic systems in chained form with nonlinear parameterization. The robust adaptive control law is developed using parameter separation, state scaling and backstepping technique. Global asymptotic regulation of the closed-loop system states is achieved. The proposed control based switching strategy is proposed to overcome the uncontrollability problem associated with x 0 ( t 0 ) = 0 .
ISSN:1468-1218
1878-5719
DOI:10.1016/j.nonrwa.2009.11.019