Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts

doi:10.1080/00207170500080280

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	Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts
	Liu, YG ; Zhang, JF
	2005-05-10
发表期刊	INTERNATIONAL JOURNAL OF CONTROL
ISSN	0020-7179
卷号	78 期号:7 页码:474-490
摘要	This paper investigates the problem of output-feedback adaptive stabilization control design for non-holonomic chained systems with strong non-linear drifts, including modelled nonlinear dynamics, unmodelled dynamics, and those modelled but with unknown parameters. An observer and an estimator are introduced for state and parameter estimates, respectively. By using the integrator backstepping approach and based on the observer and parameter estimator, a constructive design procedure for output-feedback adaptive stabilization control is given. It is shown that, under some conditions, the control design ensures the closed-loop system is globally asymptotically stable when there is no non-linear drift in the first subsystem, and semiglobally asymptotically stable, otherwise. An example is given to show the effectiveness of the theory.
DOI	10.1080/00207170500080280
语种	英语
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000230015100002
出版者	TAYLOR & FRANCIS LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/1710
专题	中国科学院数学与系统科学研究院
通讯作者	Zhang, JF
作者单位	1.Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China 2.Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Liu, YG,Zhang, JF. Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts[J]. INTERNATIONAL JOURNAL OF CONTROL,2005,78(7):474-490.
APA	Liu, YG,&Zhang, JF.(2005).Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts.INTERNATIONAL JOURNAL OF CONTROL,78(7),474-490.
MLA	Liu, YG,et al."Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts".INTERNATIONAL JOURNAL OF CONTROL 78.7(2005):474-490.