自动化学报2007，Vol.33Issue(4)：399-403,5.
含有非线性参数化的非完整系统的鲁棒自适应控制
Robust Adaptive Control of Nonholonomic Systems with Nonlinear Parameterization
摘要
Abstract
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.关键词
Nonholonomic systems/robust adaptive control/nonlinear drifts/nonlinear parameterization/global-adaptive stabilizationKey words
Nonholonomic systems/robust adaptive control/nonlinear drifts/nonlinear parameterization/global-adaptive stabilization分类
信息技术与安全科学引用本文复制引用
王强德,魏春玲..含有非线性参数化的非完整系统的鲁棒自适应控制[J].自动化学报,2007,33(4):399-403,5.基金项目
Supported by National Natural Science Foundation of P. R. China(60304003, 60574007, 60574080) and Research Startup Foundation of Qufu Normal University （60304003, 60574007, 60574080）
