✦ LIBER ✦

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

✍ Scribed by S.S. Ge

Book ID: 104300637
Publisher: Elsevier Science
Year: 2003
Tongue: English
Weight: 151 KB
Volume: 49
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(03)00134-8

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✦ Synopsis

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.

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Adaptive global stabilization of nonholo

Adaptive global stabilization of nonholonomic systems with strong nonlinear drifts

✍ Khac Duc Do; Jie Pan 📂 Article 📅 2002 🏛 Elsevier Science 🌐 English ⚖ 158 KB

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 control