Adaptive stabilization of uncertain nonholonomic systems by state and output feedback.
type: Item
instance of: scholarly article
title: Adaptive stabilization of uncertain nonholonomic systems by state and output feedback.
zbMATH Open document ID: 1038.93079
DOI: 10.1016/S0005-1098(03)00119-5
author: Zhuping Wang
author: Tong Heng Lee
author: Shuzhi Sam Ge
published in: Automatica
publication date: 2003-10-14T00:00:00Z
review text: This paper addresses constructive adaptive state feedback control strategies for stabilizing a class of uncertain non-holonomic chained systems without imposing any restrictions on the system order or the growth of drift nonlinearities. Control laws are developed that use state scaling and backstepping. An innovative adaptive switching approach is proposed to prevent possible escape to infinity in finite time of system states and to guarantee boundedness of all signals in the system. A nonlinear observer-based output feedback design is proposed when only partial system states are measurable. A filtered observer rather than the customary linear observer is used to handle technical problems associated with the presence of unavailable states in the regressor matrix. The authors prove that all system states converge globally to the origin and that the estimated parameters remain bounded. Simulation results with a bilinear model of a mobile robot demonstrate the effectiveness of the authors' approach.
Mathematics Subject Classification ID: 93D21
Mathematics Subject Classification ID: 70F25
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 1992648
zbMATH Keywords: adaptive stabilization
zbMATH Keywords: nonholonomic chained system
zbMATH Keywords: state feedback
zbMATH Keywords: output feedback
zbMATH Keywords: state scaling
zbMATH Keywords: backstepping
zbMATH Keywords: switching
zbMATH Keywords: filtered observer
zbMATH Keywords: bilinear model
zbMATH Keywords: mobile robot
Wikidata QID: Q57527876
reviewed by: William J. Satzer Jr.
MaRDI profile type: Publication
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full work available at URL: s0005-1098(03)00119-5
OpenAlex ID: W1975197278
DBLP publication ID: journals/automatica/GeWL03
description: scientific article; zbMATH DE number 1992648