Adaptive output feedback asymptotic stabilization of nonholonomic systems with uncertainties

Ju, Guiling; Wu, Yuqiang; Sun, Weihai

doi:10.1016/j.na.2009.03.088

Cited by 23 publications

(18 citation statements)

References 17 publications

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“…In contrary to standard chained model (4), three new parameters α 1 , α 2 , and θ 0 are added in (10). Therefore, the model of (10) is called an uncertain chained form with two chains and three inputs if some parameters are unknown.…”

Section: Description Of Nonholonomic Type (1 2) Robotmentioning

confidence: 99%

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Robust exponential stabilization of nonholonomic wheeled mobile robots with unknown visual parameters

Liang

Wang

2011

J. Control Theory Appl.

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The visual servoing stabilization of nonholonomic mobile robot with unknown camera parameters is investigated. A new kind of uncertain chained model of nonholonomic kinemetic system is obtained based on the visual feedback and the standard chained form of type (1, 2) mobile robot. Then, a novel time-varying feedback controller is proposed for exponentially stabilizing the position and orientation of the robot using visual feedback and switching strategy when the camera parameters are not known. The exponential stability of the closed-loop system is rigorously proven. Simulation results demonstrate the effectiveness of the method proposed in this paper.

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Section: Description Of Nonholonomic Type (1 2) Robotmentioning

confidence: 99%

“…Robust adaptive tracking controller of robotic systems with uncertainties is proposed in [8]. By using scaling technology, adaptive state and output feedback switching control strategies have been proposed for the uncertain chained form systems [9,10].…”

Section: Introductionmentioning

confidence: 99%

Robust exponential stabilization of nonholonomic wheeled mobile robots with unknown visual parameters

Liang

Wang

2011

J. Control Theory Appl.

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“…Although great progress [1][2][3][4][5][6][7][8][9] has been made for nonholonomic systems during the last decades, controller design for these systems still has a challenge to control engineers.…”

Section: Introductionmentioning

confidence: 99%

Adaptive motion/force control of nonholonomic mechanical systems with affine constraints

Sun

2014

NAMC

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Abstract. The motion/force tracking control of nonholonomic mechanical systems with affine constraints is investigated in this paper. In the procedure of control design, by flexibly using the algebra processing technique, constraint forces are successfully canceled in the dynamic equations, and then an integral feedback compensation strategy and an adaptive scheme are applied to identify the dynamic uncertainty. It is shown that the proposed controller ensures the position state of the closed-loop system asymptotically tracks the desired trajectory and the force tracking error has a controllable bound. Finally, a boat on a running river as a simulation example is given to show the effectiveness of the control scheme.

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“…As pointed out in [9], many nonlinear mechanical systems with nonholonomic constraints can be transformed, either locally or globally, to the nonholonomic systems in the so-called chained form. So far, there have been a number of controller design approaches [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25] for such chained nonholonomic systems. Recently, adaptive control strategies have been proposed to stabilize the nonholonomic systems.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, adaptive control strategies have been proposed to stabilize the nonholonomic systems. For instance, the problem of adaptive state-feedback control is studied in [15][16][17][18][19], while output feedback controller design in [20][21][22][23][24]. Considering the actual modeling perspective, time delay should be taken into account.…”

Section: Introductionmentioning

confidence: 99%

Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

Wu¹,

Wang²,

Wu³

et al. 2014

Abstract and Applied Analysis

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This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method.

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Adaptive output feedback asymptotic stabilization of nonholonomic systems with uncertainties

Cited by 23 publications

References 17 publications

Robust exponential stabilization of nonholonomic wheeled mobile robots with unknown visual parameters

Robust exponential stabilization of nonholonomic wheeled mobile robots with unknown visual parameters

Adaptive motion/force control of nonholonomic mechanical systems with affine constraints

Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

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