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 |
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| container_end_page | 3250 |
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| container_issue | 4 |
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| container_title | Nonlinear analysis: real world applications |
| container_volume | 11 |
| creator | Gao, Fangzheng Yuan, Fushun Yao, Hejun |
| description | 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
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| doi_str_mv | 10.1016/j.nonrwa.2009.11.019 |
| format | Article |
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.</description><identifier>ISSN: 1468-1218</identifier><identifier>EISSN: 1878-5719</identifier><identifier>DOI: 10.1016/j.nonrwa.2009.11.019</identifier><language>eng</language><publisher>Elsevier Ltd</publisher><subject>Adaptive ; Adaptive control ; Adaptive control systems ; Asymptotic properties ; Control ; Control systems ; Nonholonomic systems ; Nonlinear parameterization ; Nonlinearity ; Parametrization ; State scaling ; Strategy ; Switching</subject><ispartof>Nonlinear analysis: real world applications, 2010-08, Vol.11 (4), p.3242-3250</ispartof><rights>2009 Elsevier Ltd</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c338t-8593adf425aa549070ca18e21ba39b1067326998ce96cdf511032338111e46763</citedby><cites>FETCH-LOGICAL-c338t-8593adf425aa549070ca18e21ba39b1067326998ce96cdf511032338111e46763</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.sciencedirect.com/science/article/pii/S1468121809003435$$EHTML$$P50$$Gelsevier$$H</linktohtml><link.rule.ids>314,776,780,3537,27901,27902,65534</link.rule.ids></links><search><creatorcontrib>Gao, Fangzheng</creatorcontrib><creatorcontrib>Yuan, Fushun</creatorcontrib><creatorcontrib>Yao, Hejun</creatorcontrib><title>Robust adaptive control for nonholonomic systems with nonlinear parameterization</title><title>Nonlinear analysis: real world applications</title><description>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
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.</description><subject>Adaptive</subject><subject>Adaptive control</subject><subject>Adaptive control systems</subject><subject>Asymptotic properties</subject><subject>Control</subject><subject>Control systems</subject><subject>Nonholonomic systems</subject><subject>Nonlinear parameterization</subject><subject>Nonlinearity</subject><subject>Parametrization</subject><subject>State scaling</subject><subject>Strategy</subject><subject>Switching</subject><issn>1468-1218</issn><issn>1878-5719</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2010</creationdate><recordtype>article</recordtype><recordid>eNp9kE1LxDAQhoMouK7-Aw-9eWrNNG2TXARZ_IIFRfQcsumUzdImNcnuor_eLuvZ0wzM-7wwDyHXQAug0NxuCudd2OuipFQWAAUFeUJmILjIaw7ydNqrRuRQgjgnFzFuKAUODGbk7d2vtjFlutVjsjvMjHcp-D7rfMim1rXvvfODNVn8jgmHmO1tWh8uvXWoQzbqoAdMGOyPTta7S3LW6T7i1d-ck8_Hh4_Fc758fXpZ3C9zw5hIuagl021XlbXWdSUpp0aDwBJWmskV0IazspFSGJSNabsagLJyIgEAq4Y3bE5ujr1j8F9bjEkNNhrse-3Qb6MSdc2pLLmYktUxaYKPMWCnxmAHHb4VUHXwpzbq6E8d_CkANfmbsLsjhtMXO4tBRWPRGWxtQJNU6-3_Bb9kwnwO</recordid><startdate>20100801</startdate><enddate>20100801</enddate><creator>Gao, Fangzheng</creator><creator>Yuan, Fushun</creator><creator>Yao, Hejun</creator><general>Elsevier Ltd</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>KR7</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>20100801</creationdate><title>Robust adaptive control for nonholonomic systems with nonlinear parameterization</title><author>Gao, Fangzheng ; Yuan, Fushun ; Yao, Hejun</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c338t-8593adf425aa549070ca18e21ba39b1067326998ce96cdf511032338111e46763</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Adaptive</topic><topic>Adaptive control</topic><topic>Adaptive control systems</topic><topic>Asymptotic properties</topic><topic>Control</topic><topic>Control systems</topic><topic>Nonholonomic systems</topic><topic>Nonlinear parameterization</topic><topic>Nonlinearity</topic><topic>Parametrization</topic><topic>State scaling</topic><topic>Strategy</topic><topic>Switching</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Gao, Fangzheng</creatorcontrib><creatorcontrib>Yuan, Fushun</creatorcontrib><creatorcontrib>Yao, Hejun</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Nonlinear analysis: real world applications</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Gao, Fangzheng</au><au>Yuan, Fushun</au><au>Yao, Hejun</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Robust adaptive control for nonholonomic systems with nonlinear parameterization</atitle><jtitle>Nonlinear analysis: real world applications</jtitle><date>2010-08-01</date><risdate>2010</risdate><volume>11</volume><issue>4</issue><spage>3242</spage><epage>3250</epage><pages>3242-3250</pages><issn>1468-1218</issn><eissn>1878-5719</eissn><abstract>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
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| fulltext | fulltext |
| identifier | ISSN: 1468-1218 |
| ispartof | Nonlinear analysis: real world applications, 2010-08, Vol.11 (4), p.3242-3250 |
| issn | 1468-1218 1878-5719 |
| language | eng |
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| source | Elsevier ScienceDirect Journals Complete |
| subjects | Adaptive Adaptive control Adaptive control systems Asymptotic properties Control Control systems Nonholonomic systems Nonlinear parameterization Nonlinearity Parametrization State scaling Strategy Switching |
| title | Robust adaptive control for nonholonomic systems with nonlinear parameterization |
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