✦ LIBER ✦

Adaptive global stabilization of nonholonomic systems with strong nonlinear drifts

✍ Scribed by Khac Duc Do; Jie Pan

Book ID: 104300489
Publisher: Elsevier Science
Year: 2002
Tongue: English
Weight: 158 KB
Volume: 46
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(02)00133-0

No coin nor oath required. For personal study only.

✦ Synopsis

A new input-to-state scaling scheme is ÿrst introduced to transform a class of nonholonomic systems in a chained form with strong nonlinear drifts and unknown constant parameters into a strict feedback form. The backstepping technique is then applied to design a global adaptive stabilization controller. A switching strategy based on the control input magnitude rather than the time is derived to get around the phenomenon of uncontrollability. Simulation examples validate the e ectiveness of the proposed controller.

📜 SIMILAR VOLUMES

Comments on “Adaptive global stabilizati

Comments on “Adaptive global stabilization of nonholonomic systems with strong nonlinear drifts”: [Systems & Control Letters 46 (2002) 195–205]

✍ S.S. Ge 📂 Article 📅 2003 🏛 Elsevier Science 🌐 English ⚖ 151 KB

In the paper to be commented, there is a technical problem inherent in the input based switching, and it is highlighted here to avoid possible failure when the scheme is used in practice.

Adaptive stabilization of high order non

Adaptive stabilization of high order nonholonomic systems with strong nonlinear drifts

✍ Fangzheng Gao; Fushun Yuan; Hejun Yao; Xiaowu Mu 📂 Article 📅 2011 🏛 Elsevier Science 🌐 English ⚖ 347 KB

Robust stabilization of uncertain nonhol

Robust stabilization of uncertain nonholonomic systems with strong nonlinear drifts

✍ Yuqiang Wu; Xiuyun Zheng 📂 Article 📅 2008 🏛 South China University of Technology and Academy o 🌐 English ⚖ 161 KB

Robust stabilization of delayed nonholon

Robust stabilization of delayed nonholonomic systems with strong nonlinear drifts

✍ Yuanyuan Wu; Yuqiang Wu 📂 Article 📅 2010 🏛 Elsevier Science 🌐 English ⚖ 326 KB

Robust adaptive neural network control o

Robust adaptive neural network control of uncertain nonholonomic systems with strong nonlinear drifts

✍ Wang, Z.P.; Ge, S.S.; Lee, T.H. 📂 Article 📅 2004 🏛 IEEE 🌐 English ⚖ 516 KB

Robust stabilization for nonholonomic sy

Robust stabilization for nonholonomic systems with state delay and nonlinear drifts

✍ Yuanyuan Wu; Yuqiang Wu 📂 Article 📅 2011 🏛 South China University of Technology and Academy o 🌐 English ⚖ 151 KB