کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
694631 | 890166 | 2007 | 5 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Robust Adaptive Control of Nonholonomic Systems with Nonlinear Parameterization Robust Adaptive Control of Nonholonomic Systems with Nonlinear Parameterization](/preview/png/694631.png)
A global-adaptive state feedback control strategy is presented for a class of nonholonomic systems in chained form with strong nonlinear drifts and unknown nonlinear parameters. A parameter separation technique is introduced to transform the nonlinear parameterization nonholonomic system into a linear-like parameterized nonholonomic system. Then, the feedback domination design is applied to design a global adaptive stabilization controller and a switching strategy is developed to eliminate the phenomenon of uncontrollability. The proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded. Simulation example demonstrates the effectiveness and the robust features of the proposed controller.
Journal: Acta Automatica Sinica - Volume 33, Issue 4, April 2007, Pages 399-403