The output feedback control for uncertain nonholonomic systems  

作　　者：Qiangde WANG Chunling WEI Siying ZHANG 

机构地区：[1]Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China [2]Institute of Automation, Southeast University, Nanjing Jiangsu 210096, China [3]School of Information Science and engineering, Northeastern University, Shenyang Liaoning 110004, China

出　　处：《控制理论与应用（英文版）》2006年第2期128-132,共5页

基　　金：This work was supported by the National Natural Science Foundation of China(No.60304003,60574007,60574080) Scholastic Youth Foundation of Qufu Normal University.

摘　　要：This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation （GAR） by 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-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation （GAR） by 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-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.

关 键 词：Uncertain nonholonomic systems Output feedback Nonsmooth change of coordinates 

分 类 号：TP271.9[自动化与计算机技术—检测技术与自动化装置]