Backstepping-based adaptive controllers for uncertain nonholonomic systems

Zhong-Ping Jiang, J. B. Pomet

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an application of the integrator backstepping method to a linearly parametrized class of multi-input nonholonomic systems. A globally stabilizing adaptive time-varying controller is designed. An extension to cover a nonlinearly parametrized class is also considered by means of the classical Speed-Gradient methodology.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages1573-1578
Number of pages6
Volume2
StatePublished - 1995
EventProceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) - New Orleans, LA, USA
Duration: Dec 13 1995Dec 15 1995

Other

OtherProceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4)
CityNew Orleans, LA, USA
Period12/13/9512/15/95

Fingerprint

Backstepping
Uncertain systems
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Chemical Health and Safety

Cite this

Jiang, Z-P., & Pomet, J. B. (1995). Backstepping-based adaptive controllers for uncertain nonholonomic systems. In Proceedings of the IEEE Conference on Decision and Control (Vol. 2, pp. 1573-1578)

Backstepping-based adaptive controllers for uncertain nonholonomic systems. / Jiang, Zhong-Ping; Pomet, J. B.

Proceedings of the IEEE Conference on Decision and Control. Vol. 2 1995. p. 1573-1578.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jiang, Z-P & Pomet, JB 1995, Backstepping-based adaptive controllers for uncertain nonholonomic systems. in Proceedings of the IEEE Conference on Decision and Control. vol. 2, pp. 1573-1578, Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4), New Orleans, LA, USA, 12/13/95.
Jiang Z-P, Pomet JB. Backstepping-based adaptive controllers for uncertain nonholonomic systems. In Proceedings of the IEEE Conference on Decision and Control. Vol. 2. 1995. p. 1573-1578
Jiang, Zhong-Ping ; Pomet, J. B. / Backstepping-based adaptive controllers for uncertain nonholonomic systems. Proceedings of the IEEE Conference on Decision and Control. Vol. 2 1995. pp. 1573-1578
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