Robust Adaptive Control of Nonholonomic Systems With Uncertainties

MU Xiao-wu; YU Ji-min; BI Wei-ping; CHENG Dai-zhan

Article Contents

Article Navigation > Applied Mathematics and Mechanics > 2004 > 25(3): 297-304

MU Xiao-wu, YU Ji-min, BI Wei-ping, CHENG Dai-zhan. Robust Adaptive Control of Nonholonomic Systems With Uncertainties[J]. Applied Mathematics and Mechanics, 2004, 25(3): 297-304.

Citation:

MU Xiao-wu, YU Ji-min, BI Wei-ping, CHENG Dai-zhan. Robust Adaptive Control of Nonholonomic Systems With Uncertainties[J]. Applied Mathematics and Mechanics, 2004, 25(3): 297-304.

Citation:

MU Xiao-wu, YU Ji-min, BI Wei-ping, CHENG Dai-zhan. Robust Adaptive Control of Nonholonomic Systems With Uncertainties[J]. Applied Mathematics and Mechanics, 2004, 25(3): 297-304.

PDF( 318 KB)

Robust Adaptive Control of Nonholonomic Systems With Uncertainties

1.
Department of Systems Science and Mathematics, Zhengzhou University, Zhengzhou 450052, P. R. China;

Received Date: 2002-01-21
Rev Recd Date: 2003-09-26
Publish Date: 2004-03-15

Abstract

Abstract

Robust adaptive control of nonholonomic systems in chained form with linearly parameterized and strongly nonlinear disturbance and drift terms is dicussed. The novelty of the proposed method is a combined use of the state-scaling and the back-stepping procedure.
- nonholonomic system,
- adaptive control,
- stability

FullText(HTML)

References(12)

References

[1]	JIANG Zhong-ping,Pomet J B.Global stabilitzation of parametric chained-form systems by time-varying dynamic feedback[J].Int Journal of Adaptive Control and Signal Processing,1996,10(1):47—59. doi: 10.1002/(SICI)1099-1115(199601)10:1<47::AID-ACS385>3.0.CO;2-7
[2]	JIANG Zhong-ping.Robust exponential regulation of nonholonmic systems with uncertainties[J].Automatica,2000,36(2):189—209. doi: 10.1016/S0005-1098(99)00115-6
[3]	Astolfi A.Discontinuous control of nonholonomic systems[J].Systems and Control Letters,1996,27(1):37—45. doi: 10.1016/0167-6911(95)00041-0
[4]	JIANG Zhong-ping.Iterative design of time-varying stabilizers for multi-input systems in chained form[J].Systems and Control Letters,1996,28(3):255—262. doi: 10.1016/0167-6911(96)00029-1
[5]	JIANG Zhong-ping,Nijmeijer H.A recursive technique for tracking control of nonholonomic systems in chained form[J].IEEE Transactions on Automatic Control,1999,44(2):265—279. doi: 10.1109/9.746253
[6]	JIANG Zhong-ping,Pomet J B.Combining back-stepping and time-varying techniques for a nwe set of adaptive controlers[A].In:Pomet J B Ed.Proceedngs of 33rd IEEE Conference on Decision and Control[C].Florida:Springer,1994,2207—2212.
[7]	Murray R M,Sastry S.Nonholonomic motion planning:Steering using sinusoids[J].IEEE Transaction on Automatic Control,1993,38(3):700—716. doi: 10.1109/9.277235
[8]	Anold V I.Geometrical Methods of Ordinary Differetial Equations[M].Berlin:Springer,1987.
[9]	Kanellakopoulos I,KokotoviAc＇ P V,Morse A S.Systematic design of adaptive controllers for feedback linearizable systems[J].IEEE Trans Automat control,1991,36(7):1241—1253. doi: 10.1109/9.100933
[10]	Kanellakopoulos I,KokotoviAc＇ P V,Morse A S.A toolkit for nonlinear feedback design[J].Systems and Control Letters,1992,18(1):83—92. doi: 10.1016/0167-6911(92)90012-H
[11]	Marino R,Tomei P.Robust stabilization of feedback linearizable time-varyng uncertain nonlinear systems[J].Automatica,1993,29(2):181—189. doi: 10.1016/0005-1098(93)90181-R
[12]	Khalil H K.Nonlinear Systems[M].2nd Ed.Upper Saddle River,N J:Prentice-Hall,1996.