Open Access
2014 Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization
Yanling Shang, Ye Yuan, Fushun Yuan
Abstr. Appl. Anal. 2014: 1-9 (2014). DOI: 10.1155/2014/623605


This paper investigates the problem of adaptive output feedback stabilization for a class of nonholonomic systems with nonlinear parameterization and strong nonlinear drifts. A parameter separation technique is introduced to transform nonlinearly parameterized system into a linear-like parameterized system. Then, by using the integrator backstepping approach based on observer and parameter estimator, a constructive design procedure for output feedback adaptive control is given. And a switching strategy is developed to eliminate the phenomenon of uncontrollability. It is shown that, under some conditions, the proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded. An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme.


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Yanling Shang. Ye Yuan. Fushun Yuan. "Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization." Abstr. Appl. Anal. 2014 1 - 9, 2014.


Published: 2014
First available in Project Euclid: 2 October 2014

zbMATH: 07022750
MathSciNet: MR3251531
Digital Object Identifier: 10.1155/2014/623605

Rights: Copyright © 2014 Hindawi

Vol.2014 • 2014
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