Title :
Output Feedback Control for Uncertain Nonholonomic Systems in Chained Form
Author :
Wang, Qiangde ; Wei, Chunling
Author_Institution :
Inst. of Autom., Qufu Normal Univ.
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;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1712452
