Robust controller design for uncertain nonholonomic systems

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

Abstract

This paper deals with a new class of nonholonomic control systems with strongly nonlinear disturbances and drift terms. The objective is to design a robust nonlinear state feedback law which simultaneously solves the global exponential regulation problem for all plants in the class. A switching control strategy is employed to get around the smooth stabilization burden associated with nonholonomic systems. The systematic strategy involves the introduction of a state-scaling technique and the application of the so-called integrator backstepping procedure. Extension to the output-feedback case follows readily. Our theoretical development is validated via simulations.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherIEEE
Pages3525-3529
Number of pages5
Volume5
StatePublished - 1999
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

Other

OtherProceedings of the 1999 American Control Conference (99ACC)
CitySan Diego, CA, USA
Period6/2/996/4/99

Fingerprint

Nonlinear feedback
Backstepping
Uncertain systems
State feedback
Stabilization
Feedback
Control systems
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Jiang, Z-P. (1999). Robust controller design for uncertain nonholonomic systems. In Proceedings of the American Control Conference (Vol. 5, pp. 3525-3529). IEEE.

Robust controller design for uncertain nonholonomic systems. / Jiang, Zhong-Ping.

Proceedings of the American Control Conference. Vol. 5 IEEE, 1999. p. 3525-3529.

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

Jiang, Z-P 1999, Robust controller design for uncertain nonholonomic systems. in Proceedings of the American Control Conference. vol. 5, IEEE, pp. 3525-3529, Proceedings of the 1999 American Control Conference (99ACC), San Diego, CA, USA, 6/2/99.
Jiang Z-P. Robust controller design for uncertain nonholonomic systems. In Proceedings of the American Control Conference. Vol. 5. IEEE. 1999. p. 3525-3529
Jiang, Zhong-Ping. / Robust controller design for uncertain nonholonomic systems. Proceedings of the American Control Conference. Vol. 5 IEEE, 1999. pp. 3525-3529
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